Steel ring lining alignment welding trolley

Abstract

The invention relates to the technical field of lining welding, in particular to a steel ring lining alignment welding trolley which comprises a stepping device, an operation platform, a steel ring longitudinal traction device, an annular walking rail, a welding device and an alignment device. The working platform is arranged on the stepping device; the steel ring longitudinal traction device is arranged on the working platform and is used for grabbing the steel ring and moving the steel ring to a butt joint position; the annular walking track is arranged on the working platform; the welding device can walk along the annular walking track and weld welding seams between the adjacent steel rings. And the alignment device can walk along the annular walking track and is used for adjusting slab staggering of the steel ring. The alignment device is adopted to detect the slab staggering size of the steel ring, the position of the steel ring is rapidly adjusted to solve the slab staggering problem, the welding positioning requirement is met, the construction procedure is simple, and the welding efficiency and the welding quality can be effectively guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of lining welding, in particular to a steel ring lining alignment welding trolley. Background Art

[0002] The current steel ring construction application is the welding of water diversion pressure pipelines in hydropower stations. The construction plan is to weld the arc steel ring into a circular ring at the ring point, and weld the reinforced circular support structure. The steel ring is lifted and placed on a special transport trolley through the sky anchor equipment. The axis of the steel ring is parallel to the transportation direction. After the steel ring is aligned, the welding work platform is overlapped inside the steel ring and fixedly connected to the steel ring. The operator or a small welding robot completes the welding operation. This construction method will greatly increase the cross-sectional size of the chamber excavation, and at the same time, the amount of backfill concrete lining is large; the whole ring alignment adjustment is limited, and the transport trolley itself is difficult to increase the multi-degree-of-freedom alignment adjustment of the steel ring; the manual work platform moves inside the steel ring, fixes the support, etc., which requires multiple processes and high labor intensity.

[0003] Therefore, it is necessary to provide a new steel ring liner alignment welding trolley to solve the above-mentioned technical problems. Summary of the invention

[0004] The main purpose of the present invention is to provide a steel ring liner alignment welding trolley, aiming to solve the problems of complex construction procedures and easy misalignment of the existing device.

[0005] To achieve the above-mentioned purpose, the steel ring liner alignment welding trolley proposed in the present invention includes a stepping device, a working platform, a steel ring longitudinal traction device, a circular running track, a welding device and an alignment device, wherein the stepping device can move along a first direction; the working platform is arranged on the stepping device; the steel ring longitudinal traction device is arranged on the working platform, and is used to grab the steel ring and move the steel ring to a docking position; the circular running track is arranged on the working platform; the welding device can move along the circular running track and weld the welds between adjacent steel rings; the alignment device can move along the circular running track, and is used to adjust the misalignment of the steel ring.

[0006] Optionally, the stepping device includes a supporting body, a sliding gantry and a stepping drive mechanism, the supporting body includes a main bearing structure and a supporting telescopic leg, the main bearing structure forms a vehicle transport channel extending along a first direction, and at least one supporting telescopic leg is respectively provided at both ends of the main bearing structure along the first direction, and the supporting telescopic leg can be lifted and lowered along a vertical direction; the sliding gantry includes a gantry bearing structure and a gantry telescopic leg, the gantry bearing structure is slidably arranged on the main bearing structure, and at least one supporting telescopic leg is respectively provided at both ends of the gantry bearing structure along the first direction, and the gantry telescopic leg can be lifted and lowered along a vertical direction; the stepping drive mechanism is arranged on the main bearing structure, and the output end of the stepping drive mechanism is connected to the gantry bearing structure, and the stepping drive mechanism can drive the gantry bearing structure to move along the first direction.

[0007] Optionally, the steel ring longitudinal traction device includes a first mounting frame, a first telescopic mechanism, a second telescopic mechanism and a steel ring grasping mechanism, the first mounting frame is arranged on the working platform; the first telescopic mechanism is arranged on the first mounting frame; the second telescopic mechanism is arranged on the first telescopic mechanism; the steel ring grasping mechanism includes a first suction cup, a telescopic drive assembly and a telescopic guide assembly, the first suction cup is connected to the output end of the telescopic drive assembly, the telescopic drive assembly is arranged on the second telescopic mechanism, and the first suction cup is arranged on the second telescopic mechanism through the telescopic guide assembly; the first telescopic mechanism can drive the second telescopic mechanism to move along the first direction, and the second telescopic mechanism can drive the steel ring grasping mechanism to move along the first direction.

[0008] Optionally, the first-level telescopic mechanism includes a first-level sliding rail, a first-level sliding platform, a first-level sliding motor, a rack and a driving gear, the first-level sliding rail is arranged on the first mounting frame; the first-level sliding platform is slidably arranged on the first-level sliding rail along the first direction, and the first-level sliding motor is arranged on the first mounting frame or the first-level sliding rail; the rack is arranged on the first-level sliding platform; the driving gear is connected to the output shaft of the first-level sliding motor, and the driving gear is meshed with the rack.

[0009] Optionally, the alignment device includes a driving chassis, a roller detection mechanism and a precise positioning mechanism, and the driving chassis can travel along the circular running track; the roller detection mechanism includes a buzzer and at least two detection components, and the detection component includes a mounting seat, a detection roller, an elastic force adjustment component and a displacement sensor, and the mounting seat is arranged on the driving chassis through the elastic force adjustment component; the displacement sensor is arranged on the driving chassis, and the mounting seat is connected to the input end of the displacement sensor through an extension rod, and the displacement sensor is used to monitor the displacement of the detection roller extended under the action of the elastic telescopic component; the displacement sensor and the buzzer are both electrically connected to the control console; the precise positioning mechanism is arranged on the driving chassis, and is used to adjust the misalignment of the steel ring.

[0010] Optionally, the fine positioning mechanism includes a fine adjustment drive assembly, a fine adjustment mobile platform and a fine adjustment grasping assembly, the fine adjustment drive assembly is arranged on the drive chassis; the fine adjustment mobile platform is slidably arranged on the drive chassis along a first direction; the fine adjustment grasping assembly includes a second suction cup, a telescopic drive member and a grasping guide member, the second suction cup is connected to the output end of the telescopic drive member, the telescopic drive member is arranged on the fine adjustment mobile platform, and the second suction cup is connected to the fine adjustment mobile platform through the grasping guide member.

[0011] Optionally, the steel ring liner alignment welding trolley also includes a steel ring supporting device, which includes a second mounting base, a bracket telescopic mechanism, a roller bracket and a bracket guiding mechanism, wherein the second mounting base is arranged on the working platform; the bracket telescopic mechanism is arranged on the second mounting base; the roller bracket is connected to the output end of the bracket telescopic mechanism, and the roller bracket is connected to the second mounting base through the bracket guiding mechanism; the roller bracket is provided with a pulley arranged along a first direction; the bracket telescopic mechanism can drive the roller bracket to approach or move away from the steel ring.

[0012] Optionally, the welding device includes a welding chassis trolley and a multi-axis freedom welding robot, the welding chassis trolley is slidably set on the circular running track, and the welding chassis trolley can travel along the circular running track; the multi-axis freedom welding robot is arranged on the welding chassis trolley, and the multi-axis freedom welding robot is used to weld the welds between adjacent steel rings; the welding device also includes a dust removal mechanism, the dust removal mechanism is arranged on the working platform, and the flexible dust removal pipe of the dust removal device is connected to the mechanical arm of the multi-axis freedom welding robot.

[0013] Optionally, there are multiple steel ring longitudinal traction devices, and each of the steel ring longitudinal traction devices is distributed circumferentially along the working platform;

[0014] And / or, there are multiple steel ring support devices, and each of the steel ring support devices is distributed circumferentially along the working platform;

[0015] And / or, there are multiple welding devices, and each welding device is evenly arranged on the circular running track.

[0016] Optionally, the working platform includes a support frame, a modular platform, a walking escalator, a hoisting telescopic platform and a hoisting device, the support frame is arranged on the sliding gantry; the support frame is provided with a plurality of the modular platforms and the hoisting telescopic platforms arranged at intervals in the vertical direction, and two adjacent modular platforms are connected by the walking escalator; the walking escalator is arranged on the side of the support frame facing away from the circular running track; the hoisting telescopic platform is arranged on the side of the support frame facing the circular running track, and the hoisting telescopic platform can be extended or retracted in a first direction; the hoisting device is arranged on the support frame, and the hoisting device is used for hoisting materials.

[0017] In the technical solution of the present invention, there is no need to lay a running track at the bottom of the construction area, and the stepping device can drive the working platform to move along the first direction to carry out the welding of the next steel ring; the longitudinal traction device of the steel ring can grab the steel ring on the inner side of the steel ring and move the steel ring to the docking position, which can reduce the excavation size of the construction area; in addition, a positioning device is used to detect the misalignment size of the steel ring, and the position of the steel ring is quickly adjusted to solve the misalignment problem, which meets the welding positioning requirements, and the construction process is simple, and can effectively ensure the welding efficiency and welding quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 It is a structural schematic diagram of a steel ring liner alignment welding trolley in an embodiment of the present invention;

[0020] Figure 2 It is a structural schematic diagram of a stepping device in an embodiment of the present invention;

[0021] Figure 3 It is a schematic diagram of the partial structure of the sliding door frame in an embodiment of the present invention;

[0022] Figure 4 It is a schematic diagram of the installation structure of the support frame, the steel ring longitudinal traction device and the steel ring support device in the embodiment of the present invention;

[0023] Figure 5 It is a structural schematic diagram of a steel ring longitudinal traction device in an embodiment of the present invention;

[0024] Figure 6 It is a structural schematic diagram of the steel ring longitudinal traction device from another perspective in an embodiment of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the alignment device in an embodiment of the present invention;

[0026] Figure 8 This is a schematic diagram of the structure of the steel ring support device in an embodiment of the present invention;

[0027] Fig. 9 A schematic diagram of the structure of a welding device in an embodiment of the present invention;

[0028] Fig.10 It is a schematic diagram of the structure of the module platform, the hoisting telescopic platform and the escalator in the embodiment of the present invention;

[0029] Fig.11 It is a schematic diagram of the structure of the hoisting telescopic platform in an embodiment of the present invention.

[0030] Description of Figure Numbers:

[0031] 1. Stepping device, 1.1. Support body, 1.1.1. Main bearing structure, A1. Vehicle transport channel, 1.1.2. Support telescopic legs, 1.2. Sliding gantry, 1.2.1. Gantry bearing structure, 1.2.2. Gantry telescopic legs, 1.2.3. Upper sliding roller group, 1.2.4. Lower sliding roller group, 1.3. Stepping drive mechanism, 2. Working platform, 2.1. Support frame, 2.2. Module platform, 2.3. Traveling Escalator, 2.4, hoisting telescopic platform, 2.5, hoisting equipment, 3, steel ring longitudinal traction device, 3.1, first mounting frame, 3.2, first telescopic mechanism, 3.2.1, first sliding track, 3.2.2, first sliding platform, 3.2.3, first sliding motor, 3.2.4, rack, 3.2.5, driving gear, 3.3, second telescopic mechanism, 3.3.1, driving screw, 3.3.2, second sliding track, 3.3. 3. Secondary sliding platform, 3.4. Steel ring grabbing mechanism, 3.4.1. First suction cup, 3.4.2. Telescopic drive assembly, 3.4.3. Telescopic guide assembly, 4. Welding device, 4.1. Welding chassis trolley, 4.2. Multi-axis freedom welding robot, 5. Alignment device, 5.1. Driving chassis, 5.2. Roller detection mechanism, 5.2.1. Mounting seat, 5.2.2. Detection roller, 5.2.3. Elastic force adjustment assembly, 5. 2.4, displacement sensor, 5.3, fine positioning mechanism, 5.3.1, fine adjustment drive assembly, 5.3.2, fine adjustment mobile platform, 5.3.3, fine adjustment grasping assembly, B1, second suction cup, B2, telescopic drive member, B3, grasping guide member, 6, steel ring supporting device, 6.1, second mounting base, 6.2, bracket telescopic mechanism, 6.3, roller bracket, 6.3.1, pulley, 6.4, bracket guide mechanism, 7, circular running track.

[0032] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0033] The embodiments of the present invention are described in detail below with reference to the accompanying drawings, but the present invention can be implemented in many different ways as defined and covered by the claims.

[0034] The present invention proposes a steel ring liner alignment welding trolley, hereinafter referred to as welding trolley, which aims to solve the problems of complex construction procedures and easy misalignment of the existing device.

[0035] Example 1

[0036] like Figure 1As shown, this embodiment provides a steel ring liner alignment welding trolley, including a stepping device 1, a working platform 2, a steel ring longitudinal traction device 3, a circular running track 7, a welding device 4 and an alignment device 5, wherein the stepping device 1 can move along a first direction; the working platform 2 is arranged on the stepping device 1; the steel ring longitudinal traction device 3 is arranged on the working platform 2, for grabbing the steel ring and moving the steel ring to a docking position; the circular running track 7 is arranged on the working platform 2; the welding device 4 can move along the circular running track 7 and weld the welds between adjacent steel rings; the alignment device 5 can move along the circular running track 7, for adjusting the misalignment of the steel ring. There is no need to lay running tracks at the bottom of the construction area, and the stepping device 1 can drive the working platform 2 to move along the first direction to weld the next steel ring; the steel ring longitudinal traction device 3 can grab the steel ring on the inner side of the steel ring and move the steel ring to the docking position, which can reduce the excavation size of the construction area; in addition, the positioning device 5 is used to detect the misalignment size of the steel ring, and quickly adjust the position of the steel ring to solve the misalignment problem, which meets the welding positioning requirements, and the construction process is simple, and can effectively ensure the welding efficiency and welding quality.

[0037] See also Figure 2 and Figure 3 The stepping device 1 includes a supporting body 1.1, a sliding gantry 1.2 and a stepping driving mechanism 1.3. The supporting body 1.1 includes a main bearing structure 1.1.1 and a supporting telescopic leg 1.1.2. The main bearing structure 1.1.1 forms a vehicle transportation channel A1 extending along a first direction, and at least one supporting telescopic leg 1.1.2 is respectively provided at both ends of the main bearing structure 1.1.1 along the first direction. The supporting telescopic leg 1.1.2 can be lifted and lowered in a vertical direction. The sliding gantry 1.2 includes a gantry bearing structure 1.2.1 and a gantry telescopic leg 1.2. .2, the gantry bearing structure 1.2.1 is slidably arranged on the main bearing structure 1.1.1, and at least one gantry telescopic leg 1.2.2 is respectively provided at both ends of the gantry bearing structure 1.2.1 along the first direction, and the gantry telescopic leg 1.2.2 can be raised and lowered along the vertical direction; the stepping drive mechanism 1.3 is arranged on the main bearing structure 1.1.1, and the output end of the stepping drive mechanism 1.3 is connected to the gantry bearing structure 1.2.1, and the stepping drive mechanism 1.3 can drive the gantry bearing structure 1.2.1 to move along the first direction.

[0038] When the welding trolley is operating, the telescopic legs 1.2.2 of the gantry and the telescopic legs 1.1.2 of the support are extended simultaneously to the ground to bear the load of the welding trolley. The telescopic legs 1.1.2 of the support are always located on the outside of the telescopic legs 1.2.2 of the gantry. When the welding trolley slides in steps, the telescopic legs 1.1.2 of the support are retracted, and the support body 1.1 is driven to move along the first direction under the action of the stepping drive mechanism 1.3. After moving to the next welding position, the telescopic legs 1.1.2 of the support are extended to support, and the telescopic legs 1.2.2 of the gantry are retracted, and the sliding gantry 1.2 is driven to move under the action of the stepping drive device. The above actions complete one stepping movement of the welding trolley. The welding trolley can realize the movement of the working platform 2 along the first direction through the stepping device 1, so as to facilitate the welding of the next steel ring. In this embodiment, the welding trolley is used for the lining construction of the gas storage chamber. There is no need to lay a running track at the bottom of the chamber. It can be moved only by the stepping device 1 of the welding trolley to realize the lining construction of the entire chamber. In this embodiment, the upper and lower ends of the sliding door frame 1.2 are respectively slidably matched with the support body 1.1 through the upper sliding roller group 1.2.3 and the lower sliding roller group 1.2.4, and the support body 1.1 is correspondingly provided with an upper sliding track matched with the upper sliding roller group 1.2.3 and a lower sliding track matched with the lower sliding roller group 1.2.4. The stepping drive mechanism 1.3 is mainly composed of a traction gear, a rack and a drive motor. The traction gear and the drive motor are installed on the gantry bearing structure 1.2.1, and the rack is installed on the main bearing structure 1.1.1. A roller sliding slot is installed on the main bearing structure 1.1.1, and multiple groups of rollers are installed on the gantry bearing structure 1.2.1, and are installed in the roller sliding slot on the main bearing structure 1.1.1. When the supporting body 1.1 steps and slides, the roller sliding slot provides gravity support for it, and when the sliding gantry 1.2 steps and slides, the rollers provide gravity support for it.

[0039] See also Figures 3 to 6The steel ring longitudinal traction device 3 includes a first mounting frame 3.1, a first-level telescopic mechanism 3.2, a second-level telescopic mechanism 3.3 and a steel ring grabbing mechanism 3.4, wherein the first mounting frame 3.1 is arranged on the working platform 2; the first-level telescopic mechanism 3.2 is arranged on the first mounting frame 3.1; the second-level telescopic mechanism 3.3 is arranged on the first-level telescopic mechanism 3.2; the steel ring grabbing mechanism 3.4 includes a first suction cup 3.4.1, a telescopic drive component 3.4.2 and a telescopic guide component 3.4.3, the first suction cup 3.4.1 is connected to the output end of the telescopic drive component 3.4.2, the telescopic drive component 3.4.2 is arranged on the second-level telescopic mechanism 3.3, the first suction cup 3.4.1 is arranged on the second-level telescopic mechanism 3.3 through the telescopic guide component 3.4.3; the first-level telescopic mechanism 3.2 can drive the second-level telescopic mechanism 3.3 to move along the first direction, and the second-level telescopic mechanism 3.3 can drive the steel ring grabbing mechanism 3.4 to move along the first direction. When grabbing the steel ring, the tempered grabbing mechanism extends into the steel ring on the steel ring conveying equipment under the action of the first-level telescopic mechanism 3.2 and the second-level telescopic mechanism 3.3; the telescopic driving component 3.4.2 drives the first suction cup 3.4.1 to extend, and can be telescopically adjusted in the radial direction of the steel ring so that the first suction cup 3.4.1 is adsorbed on the inner wall of the steel ring. At the same time, the telescopic guide component 3.4.3 can guide the telescopic action to ensure the stability of the operation; then the light ring is moved to the docking position corresponding to the welded steel ring through the first-level telescopic mechanism 3.2 and the second-level telescopic mechanism 3.3. At this time, the rough positioning of the steel ring welding is completed, which can reduce the size of the chamber excavation and eliminate the need for assembly and disassembly of the grabbing interface structure, which is conducive to reducing construction procedures and improving operation efficiency.

[0040] Among them, the first-level telescopic mechanism 3.2 includes a first-level sliding rail 3.2.1, a first-level sliding platform 3.2.2, a first-level sliding motor 3.2.3, a rack 3.2.4 and a driving gear 3.2.5, the first-level sliding rail 3.2.1 is arranged on the first mounting base 3.1; the first-level sliding platform 3.2.2 is slidably arranged on the first-level sliding rail 3.2.1 along the first direction, and the first-level sliding motor 3.2.3 is arranged on the first mounting base 3.1 or the first-level sliding rail 3.2.1; the rack 3.2.4 is arranged on the first-level sliding platform 3.2.2; the driving gear 3.2.5 is connected to the output shaft of the first-level sliding motor 3.2.3, and the driving gear 3.2.5 is meshed with the rack 3.2.4. The driving gear 3.2.5 rotates under the action of the primary sliding motor 3.2.3, and pushes the primary sliding platform 3.2.2 to slide relative to the primary sliding track 3.2.1 along the first direction through the rack 3.2.4, thereby driving the steel ring grabbing mechanism 3.4 to move, so as to adjust the adsorption position between the steel ring grabbing mechanism 3.4 and the steel ring and the steel ring welding position.

[0041] In this embodiment, the secondary telescopic mechanism 3.3 includes a secondary sliding track 3.3.2, a secondary sliding platform 3.3.3, a secondary sliding motor, a driving screw 3.3.1 and a driven nut. The secondary sliding track 3.3.2 is arranged on the primary sliding platform 3.2.2 along the first direction; the telescopic driving component 3.4.2 and the telescopic guide component 3.4.3 are both arranged on the secondary sliding platform 3.3.3, and the secondary sliding platform 3.3.3 is connected to the driven nut; the driven nut is connected to the driving screw The rod 3.3.1 is threadedly connected; under the action of the driving screw 3.3.1, the secondary sliding platform 3.3.3 connected to the driven nut moves along the secondary sliding track 3.3.2; under the transmission action of the driving gear 3.2.5 and the rack 3.2.4, the primary sliding platform 3.2.2 moves along the primary sliding track 3.2.1, thereby realizing the two-stage sliding function of the steel ring grabbing mechanism 3.4, so that the steel ring grabbing mechanism 3.4 can quickly grab the steel ring and move the steel ring to the docking position.

[0042] See also Figure 7The alignment device 5 includes a driving chassis 5.1, a roller detection mechanism 5.2 and a precision positioning mechanism 5.3. The driving chassis 5.1 can travel along the circular running track 7; the roller detection mechanism 5.2 includes a buzzer and at least two detection components, the detection components include a mounting seat 5.2.1, a detection roller 5.2.2, an elastic force adjustment component 5.2.3 and a displacement sensor 5.2.4, and the mounting seat 5.2.1 is arranged on the driving chassis through the elastic force adjustment component 5.2.3. The drive chassis 5.1 is provided with a displacement sensor 5.2.4, and the mounting seat 5.2.1 is connected to the input end of the displacement sensor 5.2.4 through an extension rod. The displacement sensor 5.2.4 is used to monitor the displacement of the detection roller 5.2.2 extended by the elastic telescopic component; the displacement sensor 5.2.4 and the buzzer are both electrically connected to the control console; the precise positioning mechanism 5.3 is provided on the drive chassis 5.1, and is used to adjust the misalignment of the steel ring. The detection roller 5.2.2 can be elastically retracted in the radial direction of the steel ring through the elastic force adjustment component 5.2.3. The detection roller 5.2.2 is connected to the displacement sensor 5.2.4 through the extension rod of the mounting seat 5.2.1, and the drive chassis 5.1 is connected to the control console. When performing misalignment detection, the two detection rollers 5.2.2 are pre-pressed on the welded steel ring and the steel ring to be welded respectively, and the pre-pressure settings of the two detection rollers 5.2.2 are the same. When the two steel rings are misaligned, the two detection rollers 5.2.2 extend differently under the action of the elastic force adjustment device. The displacement data is monitored by the displacement sensor 5.2.4 and fed back to the control console for calculation. When the misalignment exceeds the set value, the control console controls the buzzer to emit a buzzer sound, and controls the driving chassis 5.1 to move along the circular running track 7, driving the detection roller 5.2.2 to move to detect the misalignment of the steel ring to be welded, and adjusts the position of the steel ring according to the misalignment size of the steel ring through the precise positioning mechanism 5.3 to solve the problem of steel ring misalignment.

[0043] Specifically, the fine positioning mechanism 5.3 includes a fine adjustment drive component 5.3.1, a fine adjustment mobile platform 5.3.2 and a fine adjustment grasping component 5.3.3, the fine adjustment drive component 5.3.1 is arranged on the driving chassis 5.1; the fine adjustment mobile platform 5.3.2 is slidably arranged on the driving chassis 5.1 along a first direction; the fine adjustment grasping component 5.3.3 includes a second suction cup B1, a telescopic driving member B2 and a grasping guide member B3, the second suction cup B1 is connected to the output end of the telescopic driving member B2, the telescopic driving member B2 is arranged on the fine adjustment mobile platform 5.3.2, and the second suction cup B1 is connected to the fine adjustment mobile platform 5.3.2 through the grasping guide member B3. The second suction cup B1 radially extends into place to absorb the steel ring to be welded, and drives the fine-adjustment moving platform 5.3.2 to move the steel ring to be welded on the second suction cup B1 through the telescopic driving component B2 to adjust the misalignment of the steel ring. Preferably, the telescopic driving component B2 is a high-precision linear moving driving device, which drives the fine-adjustment grasping component 5.3.3 to move in a first direction to meet the operational requirements of the small gap between two adjacent steel rings and ensure the welding quality.

[0044] See also Figure 8 The steel ring liner alignment welding trolley also includes a steel ring support device 6, which includes a second mounting base frame 6.1, a support telescopic mechanism 6.2, a roller support 6.3 and a support guide mechanism 6.4. The second mounting base frame 6.1 is arranged on the working platform 2; the support telescopic mechanism 6.2 is arranged on the second mounting base frame 6.1; the roller support 6.3 is connected to the output end of the support telescopic mechanism 6.2, and the roller support 6.3 is connected to the second mounting base frame 6.1 through the support guide mechanism 6.4; the roller support 6.3 is provided with a pulley 6.3.1 arranged along the first direction; the support telescopic mechanism 6.2 can drive the roller support 6.3 to approach or move away from the steel ring. After the steel ring longitudinal traction device 3 grabs the steel ring and moves the steel ring to the top of the steel ring support device 6, the roller support 6.3 of the steel ring support device 6 extends out under the action of the support telescopic mechanism 6.2 to support the steel ring, so as to provide support and guidance for the steel ring when it moves longitudinally. A pulley 6.3.1 that can roll longitudinally is installed on the roller bracket 6.3 to reduce the resistance of the steel ring sliding, which is conducive to improving the working efficiency.

[0045] See also Fig. 9The welding device 4 includes a welding chassis trolley 4.1 and a multi-axis freedom welding robot 4.2. The welding chassis trolley 4.1 is slidably arranged on the circular running track 7, and the welding chassis trolley 4.1 can walk along the circular running track 7; the multi-axis freedom welding robot 4.2 is arranged on the welding chassis trolley 4.1, and the multi-axis freedom welding robot 4.2 is used to weld the welds between adjacent steel rings; the welding device 4 also includes a dust removal mechanism, which is arranged on the working platform 2, and the flexible dust removal pipeline of the dust removal device is connected to the mechanical arm of the multi-axis freedom welding robot 4.2. In this embodiment, the welding device 4 also includes a welding machine, a welding control system and a gas cylinder. The welding machine provides and controls power to the welding gun, and the gas cylinder provides auxiliary shielding gas for welding. After the alignment device 5 adjusts the misalignment of the steel ring, the operator operates the welding control system to set the welding posture and welding route of the multi-axis freedom welding robot 4.2 to complete the full-position welding operation of the two steel ring welds; during the welding process, the flexible dust removal pipe of the dust removal device is fixedly connected to the mechanical arm of the multi-axis freedom welding robot 4.2 to deal with the harmful gases generated at the welding position.

[0046] In this embodiment, there are multiple steel ring longitudinal traction devices 3, and each of the steel ring longitudinal traction devices 3 is circumferentially distributed along the working platform 2. Each circumferentially distributed steel ring longitudinal traction device 3 simultaneously grabs and moves the steel ring, which not only ensures the stability of the operation, but also does not require the support tooling of the platform to disassemble and assemble the steel ring, thereby ensuring the shape accuracy of the steel ring.

[0047] In this embodiment, there are multiple steel ring support devices 6, and each of the steel ring support devices 6 is circumferentially distributed along the work platform 2. Multiple steel ring support devices 6 cooperate with the supporting steel ring to further improve the stability of the steel ring movement, and multiple steel ring support devices 6 are unequally distributed in the circumferential direction. The steel ring moves vertically. To ensure the shape accuracy of the steel ring, the upper and lower bearing modes of the steel ring are different (for example, the top is the main bearing and compression position with 4 supports, the two sides are less tensile, each with 1 support, and the bottom may not be supported). The unequal distribution according to the load characteristics can reduce the number of steel ring support devices.

[0048] In this embodiment, there are multiple welding devices 4, and each welding device 4 is evenly arranged on the circular running track 7, dividing the circular running track 7 into multiple areas. A welding device 4 is respectively arranged in each area. Multiple welding devices 4 perform welding operations at the same time, which is beneficial to improving the efficiency of welding operations.

[0049] See also Fig.10 and Fig.11The working platform 2 includes a support frame 2.1, a module platform 2.2, a running escalator 2.3, a hoisting telescopic platform 2.4 and a hoisting device 2.5. The support frame 2.1 is arranged on the sliding door frame 1.2; the support frame 2.1 is provided with a plurality of the module platforms 2.2 and the hoisting telescopic platforms 2.4 spaced apart in the vertical direction, and two adjacent module platforms 2.2 are connected by the running escalator 2.3; the running escalator 2.3 is arranged on the side of the support frame 2.1 facing away from the circular running track 7; the hoisting telescopic platform 2.4 is arranged on the side of the support frame 2.1 facing the circular running track 7, and the hoisting telescopic platform 2.4 can be extended or retracted in a first direction; the hoisting device 2.5 is arranged on the support frame 2.1, and the hoisting device 2.5 is used for hoisting materials. The working platform 2 in this embodiment adopts a modular setting, which can realize the convenient disassembly, assembly, transportation and transfer of the platform. The hoisting telescopic platform 2.4 can avoid occupying the vertical hoisting space of the hoisting equipment 2.5. If there is no need to carry the hoisting materials, the hoisting telescopic platform 2.4 is retracted into the working platform 2. If there is a need to carry the hoisting materials, the hoisting telescopic platform 2.4 is extended out of the working platform 2. The hoisting equipment 2.5 is installed on the high-rise working platform 2. The working platform 2 can meet the needs of personnel for construction work on the girth weld and full-position maintenance and repair of the welding device 4.

[0050] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A steel ring liner welding trolley, characterized in that: The invention comprises a stepping device (1), a working platform (2), a longitudinal traction device for steel rings (3), a circular running track (7), a welding device (4) and an alignment device (5), wherein the stepping device (1) is capable of moving along a first direction; the working platform (2) is arranged on the stepping device (1); the longitudinal traction device for steel rings (3) is arranged on the working platform (2) and is used to grab the steel rings and move them to a docking position; the circular running track (7) is arranged on the working platform (2); the welding device (4) is capable of moving along the circular running track (7) and welding the welds between adjacent steel rings; the alignment device (5) is capable of moving along the circular running track (7) and is used to adjust the misalignment of the steel rings.

2. The steel ring liner alignment welding trolley according to claim 1, characterized in that: The stepping device (1) comprises a supporting body (1.1), a sliding gantry (1.2) and a stepping drive mechanism (1.3); the supporting body (1.1) comprises a main bearing structure (1.1.1) and supporting telescopic legs (1.1.2); the main bearing structure (1.1.1) forms a vehicle transport channel (A1) extending along a first direction, and at least one supporting telescopic leg (1.1.2) is respectively provided at both ends of the main bearing structure (1.1.1) along the first direction, and the supporting telescopic legs (1.1.2) can be lifted and lowered in a vertical direction; the sliding gantry (1.2) comprises a gantry bearing structure (1.2.1) and a gantry telescopic legs (1.2.2); the gantry bearing structure (1.2.1) is slidably arranged on the main bearing structure ( 1.1.1), and at least one of the gantry telescopic legs (1.2.2) is respectively provided at both ends of the gantry bearing structure (1.2.1) along the first direction, and the gantry telescopic legs (1.2.2) can be lifted and lowered in the vertical direction; the stepping drive mechanism (1.3) is arranged on the main bearing structure ( 1.1.1), and the output end of the stepping drive mechanism (1.3) is connected to the gantry bearing structure (1.2.1), and the stepping drive mechanism (1.3) is capable of driving the gantry bearing structure (1.2.1) to move along a first direction.

3. The steel ring liner alignment welding trolley according to claim 2, characterized in that: The steel ring longitudinal traction device (3) comprises a first mounting frame (3.1), a first telescopic mechanism (3.2), a second telescopic mechanism (3.3) and a steel ring grabbing mechanism (3.4), wherein the first mounting frame (3.1) is arranged on the working platform (2); the first telescopic mechanism (3.2) is arranged on the first mounting frame (3.1); the second telescopic mechanism (3.3) is arranged on the first telescopic mechanism (3.2); the steel ring grabbing mechanism (3.4) comprises a first suction cup (3.4.1), a telescopic driving component (3.4.2) and a telescopic guiding component ( 3.4.3), the first suction cup (3.4.1) is connected to the output end of the telescopic drive component (3.4.2), the telescopic drive component (3.4.2) is arranged on the secondary telescopic mechanism (3.3), the first suction cup (3.4.1) is arranged on the secondary telescopic mechanism (3.3) through the telescopic guide component (3.4.3); the primary telescopic mechanism (3.2) can drive the secondary telescopic mechanism (3.3) to move along the first direction, and the secondary telescopic mechanism (3.3) can drive the steel ring grabbing mechanism (3.4) to move along the first direction.

4. The steel ring liner alignment welding trolley as claimed in claim 3, characterized in that: The first-level telescopic mechanism (3.2) comprises a first-level sliding track (3.2.1), a first-level sliding platform (3.2.2), a first-level sliding motor (3.2.3), a rack (3.2.4) and a driving gear (3.2.5); the first-level sliding track (3.2.1) is arranged on the first mounting base (3.1); the first-level sliding platform (3.2.2) is slidably arranged on the first-level sliding track (3.2.1) along a first direction, and the first-level sliding motor (3.2.3) is arranged on the first mounting base (3.1) or the first-level sliding track (3.2.1); the rack (3.2.4) is arranged on the first-level sliding platform (3.2.2); the driving gear (3.2.5) is connected to the output shaft of the first-level sliding motor (3.2.3), and the driving gear (3.2.5) is meshed with the rack (3.2.4).

5. The steel ring liner alignment welding trolley according to claim 4, characterized in that: The alignment device (5) comprises a driving chassis (5.1), a roller detection mechanism (5.2) and a precision positioning mechanism (5.3); the driving chassis (5.1) is capable of traveling along the annular running track (7); the roller detection mechanism (5.2) comprises a buzzer and at least two detection components; the detection components comprise a mounting seat (5.2.1), a detection roller (5.2.2), an elastic force adjustment component (5.2.3) and a displacement sensor (5.2.4); the mounting seat (5.2.1) is arranged on the driving chassis (5.1) through the elastic force adjustment component (5.2.3). The displacement sensor (5.2.4) is arranged on the driving chassis (5.1); the mounting seat (5.2.1) is connected to the input end of the displacement sensor (5.2.4) through an extension rod; the displacement sensor (5.2.4) is used to monitor the displacement of the detection roller (5.2.2) extended by the elastic telescopic component; the displacement sensor (5.2.4) and the buzzer are both electrically connected to the control console; the precise positioning mechanism (5.3) is arranged on the driving chassis (5.1) and is used to adjust the misalignment of the steel ring.

6. The steel ring liner alignment welding trolley according to claim 5, characterized in that: The fine positioning mechanism (5.3) comprises a fine adjustment drive component (5.3.1), a fine adjustment mobile platform (5.3.2) and a fine adjustment grasping component (5.3.3); the fine adjustment drive component (5.3.1) is arranged on the drive chassis (5.1); the fine adjustment mobile platform (5.3.2) is slidably arranged on the drive chassis (5.1) along a first direction; the fine adjustment grasping component (5.3.3) comprises a second suction cup (B1), a telescopic drive member (B2) and a grasping guide member (B3); the second suction cup (B1) is connected to the output end of the telescopic drive member (B2); the telescopic drive member (B2) is arranged on the fine adjustment mobile platform (5.3.2), and the second suction cup (B1) is connected to the fine adjustment mobile platform (5.3.2) through the grasping guide member (B3).

7. The steel ring liner alignment welding trolley according to claim 6, characterized in that: The steel ring liner alignment welding trolley also includes a steel ring supporting device (6), which includes a second mounting base (6.1), a bracket telescopic mechanism (6.2), a roller bracket (6.3) and a bracket guiding mechanism (6.4), wherein the second mounting base (6.1) is arranged on the working platform (2); the bracket telescopic mechanism (6.2) is arranged on the second mounting base (6.1); the roller bracket (6.3) is connected to the output end of the bracket telescopic mechanism (6.2), and the roller bracket (6.3) is connected to the second mounting base (6.1) through the bracket guiding mechanism (6.4); the roller bracket (6.3) is provided with a pulley (6.3.1) arranged along a first direction; the bracket telescopic mechanism (6.2) can drive the roller bracket (6.3) to approach or move away from the steel ring.

8. The steel ring liner alignment welding trolley according to claim 7, characterized in that: The welding device (4) comprises a welding chassis trolley (4.1) and a multi-axis freedom welding robot (4.2); the welding chassis trolley (4.1) is slidably arranged on the circular running track (7), and the welding chassis trolley (4.1) can travel along the circular running track (7); the multi-axis freedom welding robot (4.2) is arranged on the welding chassis trolley (4.1), and the multi-axis freedom welding robot (4.2) is used to weld the welds between adjacent steel rings; the welding device (4) also comprises a dust removal mechanism, the dust removal mechanism is arranged on the working platform (2), and the flexible dust removal pipe of the dust removal device is connected to the mechanical arm of the multi-axis freedom welding robot (4.2).

9. The steel ring liner alignment welding trolley according to claim 8, characterized in that: The number of the steel ring longitudinal traction devices (3) is multiple, and each of the steel ring longitudinal traction devices (3) is distributed circumferentially along the working platform (2); And / or, the number of the steel ring support devices (6) is multiple, and each of the steel ring support devices (6) is distributed circumferentially along the working platform (2); And / or, there are multiple welding devices (4), and each welding device (4) is evenly arranged on the circular running track (7).

10. The steel ring liner alignment welding trolley according to any one of claims 2 to 9, wherein the working platform (2) comprises a support frame (2.1), a module platform (2.2), a walking escalator (2.3), a hoisting telescopic platform (2.4) and a hoisting device (2.5), wherein the support frame (2.1) is arranged on the sliding door frame (1.2); the support frame (2.1) is provided with a plurality of the module platforms (2.2) and the hoisting telescopic platform (2.4) spaced apart in the vertical direction, and two adjacent module platforms (2.2) are connected by the escalator (2.3); the escalator (2.3) is arranged on the side of the support frame (2.1) facing away from the circular running track (7); the hoisting telescopic platform (2.4) is arranged on the side of the support frame (2.1) facing the circular running track (7), and the hoisting telescopic platform (2.4) can be extended or retracted in a first direction; the hoisting equipment (2.5) is arranged on the support frame (2.1), and the hoisting equipment (2.5) is used for hoisting materials.

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