Steel ring lining aligning welding trolley

Abstract

The present application relates to the technical field of lining welding, and particularly relates to a steel ring lining alignment welding trolley, which comprises a stepping device, a working platform, a steel ring longitudinal traction device, a ring-shaped running track, a welding device and an alignment device, the stepping device is capable of moving in 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 for grabbing a steel ring and moving the steel ring to a butt joint position; the ring-shaped running track is arranged on the working platform; the welding device is capable of moving along the ring-shaped running track and welding a weld joint between adjacent steel rings; and the alignment device is capable of moving along the ring-shaped running track and is used for adjusting the misalignment of the steel ring. The misalignment size of the steel ring is detected by using the alignment device, and the position of the steel ring is quickly adjusted to solve the misalignment problem, so that the welding positioning requirement is met, the construction process is simple, and the welding efficiency and welding quality can be effectively ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lining welding, in particular to a steel ring lining alignment welding trolley. BACKGROUND

[0002] The current steel ring construction application is the welding of a water diversion pressure pipeline of a hydropower station. The construction scheme is that the arc-shaped steel ring is spliced into a circular ring at the ring forming point, and a reinforced support circular structure is welded. The steel ring is lifted and placed on a special transport trolley by a sky anchor device, the axis of the steel ring is parallel to the transport direction, after the alignment of the steel ring is completed, a work platform is lapped and welded inside the steel ring and is fixedly connected to the steel ring, and a worker or a small welding robot completes the welding work. This construction method increases the size of the chamber excavation section by a large margin, and the amount of backfilling concrete lining is large. The whole ring alignment adjustment has limitations, and the transport trolley itself is difficult to increase the multi-degree-of-freedom alignment adjustment of the steel ring. The manual work platform needs to be moved, fixedly supported and operated in multiple processes inside the steel ring, and the labor intensity is large.

[0003] Therefore, it is necessary to provide a new steel ring lining alignment welding trolley to solve the above technical problems. SUMMARY

[0004] The main purpose of the present application is to provide a steel ring lining alignment welding trolley, which aims to solve the problems of complex construction process and easy misalignment of the existing device.

[0005] To achieve the above purpose, the steel ring lining alignment welding trolley provided by the present application comprises a stepping device, a work platform, a steel ring longitudinal traction device, a ring-shaped running track, a welding device and an alignment device. The stepping device can move in a first direction. The work platform is arranged on the stepping device. The steel ring longitudinal traction device is arranged on the work platform and is used for grabbing and moving the steel ring to a butt joint position. The ring-shaped running track is arranged on the work platform. The welding device can move along the ring-shaped running track and weld the weld seams between adjacent steel rings. The alignment device can move along the ring-shaped running track and is used for adjusting the misalignment of the steel ring.

[0006] Optionally, the step device comprises a support body, a sliding gantry and a step driving mechanism, the support body comprises a main bearing structure and a support telescopic leg, the main bearing structure forms a vehicle transportation channel extending along a first direction, and at least one support telescopic leg is arranged at each end of the main bearing structure along the first direction, and the support telescopic leg can be lifted along a vertical direction; the sliding gantry comprises a gantry bearing structure and a gantry telescopic leg, the gantry bearing structure is slidingly arranged on the main bearing structure, and at least one gantry telescopic leg is arranged at each end of the gantry bearing structure along the first direction, and the gantry telescopic leg can be lifted along a vertical direction; the step driving mechanism is arranged on the main bearing structure, and the output end of the step driving mechanism is connected with the gantry bearing structure, and the step driving mechanism can drive the gantry bearing structure to move along the first direction.

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

[0008] Optionally, the first-level telescopic mechanism comprises 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 chassis; the first-level sliding platform is slidingly arranged on the first-level sliding rail along a first direction, the first-level sliding motor is arranged on the first mounting chassis or the first-level sliding rail; the rack is arranged on the first-level sliding platform; the driving gear is connected with the output shaft of the first-level sliding motor, and the driving gear is engaged with the rack.

[0009] Optionally, the aligning device comprises a driving chassis, a roller detecting mechanism and a fine positioning mechanism, the driving chassis is capable of walking along the annular walking track; the roller detecting mechanism comprises a buzzer and at least two detecting assemblies, the detecting assembly comprises a mounting seat, a detecting roller, an elastic adjusting assembly and a displacement sensor, the mounting seat is arranged on the driving chassis through the elastic adjusting assembly; the displacement sensor is arranged on the driving chassis, the mounting seat is connected with the input end of the displacement sensor through an extension rod, and the displacement sensor is used for monitoring the displacement of the detecting roller under the action of the elastic adjusting assembly; the displacement sensor and the buzzer are electrically connected with a control console; the fine positioning mechanism is arranged on the driving chassis and is used for adjusting the misalignment of the steel ring.

[0010] Optionally, the fine positioning mechanism comprises a fine adjusting driving assembly, a fine adjusting moving platform and a fine adjusting grabbing assembly, the fine adjusting driving assembly is arranged on the driving chassis; the fine adjusting moving platform is arranged on the driving chassis and is capable of sliding in a first direction; the fine adjusting grabbing assembly comprises a second suction cup, a telescopic driving member and a grabbing guide member, the second suction cup is connected with the output end of the telescopic driving member, the telescopic driving member is arranged on the fine adjusting moving platform, and the second suction cup is connected with the fine adjusting moving platform through the grabbing guide member.

[0011] Optionally, the steel ring inner lining aligning and welding trolley further comprises a steel ring supporting device, the steel ring supporting device comprises a second mounting chassis, a bracket telescopic mechanism, a roller bracket and a bracket guide mechanism, the second mounting chassis is arranged on the working platform; the bracket telescopic mechanism is arranged on the second mounting chassis; the roller bracket is connected with the output end of the bracket telescopic mechanism, and the roller bracket is connected with the second mounting chassis through the bracket guide mechanism; a pulley is arranged on the roller bracket and is capable of sliding in a first direction; the bracket telescopic mechanism is capable of driving the roller bracket to move close to or away from the steel ring.

[0012] Optionally, the welding device comprises a welding chassis trolley and a multi-axis freedom welding robot, the welding chassis trolley is arranged on the annular walking track and is capable of walking along the annular walking track; the multi-axis freedom welding robot is arranged on the welding chassis trolley and is used for welding the weld between adjacent steel rings; the welding device further comprises a dust removal mechanism, the dust removal mechanism is arranged on the working platform, and a flexible dust removal pipeline of the dust removal mechanism is in communication with a mechanical arm of the multi-axis freedom welding robot.

[0013] Optionally, the number of the steel ring longitudinal traction devices is multiple, and each steel ring longitudinal traction device is distributed in a circumferential direction of the working platform.

[0014] And / or, the number of steel ring support devices is multiple, and each steel ring support device is distributed circumferentially along the working platform.

[0015] And / or, the number of welding devices is multiple, and each welding device is uniformly arranged on the annular running track.

[0016] Optionally, the working platform comprises a support frame, a module platform, a running escalator, a lifting telescopic platform and a lifting device, the support frame is arranged on the sliding gantry; a plurality of module platforms and the lifting telescopic platform are arranged on the support frame in a vertical direction, and the adjacent two module platforms are connected through the running escalator; the running escalator is arranged on one side of the support frame which faces away from the annular running track; the lifting telescopic platform is arranged on one side of the support frame which faces the annular running track, and the lifting telescopic platform can be extended or retracted in the first direction; the lifting device is arranged on the support frame, and the lifting device is used for lifting materials.

[0017] In the technical scheme, the running track does not need to be laid at the bottom of the construction area, and the stepping device can drive the working platform to move in the first direction to perform the next steel ring welding; the steel ring longitudinal traction device can grab the steel ring on the inner side of the steel ring and move the steel ring to the butt joint position, so that the excavation size of the construction area can be reduced; in addition, the alignment device 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, so that the welding positioning requirement is met, the construction process is simple, and the welding efficiency and welding quality can be effectively guaranteed. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed in the following embodiment or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 It is a structural schematic view of the steel ring lining alignment welding trolley in the embodiment of the present application.

[0020] Figure 2 It is a structural schematic view of the stepping device in the embodiment of the present application.

[0021] Figure 3 It is a partial structural schematic view of the sliding gantry in the embodiment of the present application.

[0022] Figure 4 It is an installation structural schematic view of the support frame, the steel ring longitudinal traction device and the steel ring support device in the embodiment of the present application.

[0023] Figure 5 Figure 1 is a structural schematic diagram of a longitudinal traction device for a steel ring in an embodiment of the present application;

[0024] Figure 6 Figure 2 is a structural schematic diagram of another view of the longitudinal traction device for the steel ring in the embodiment of the present application;

[0025] Figure 7 Figure 3 is a structural schematic diagram of an alignment device in the embodiment of the present application;

[0026] Figure 8 Figure 4 is a structural schematic diagram of a steel ring support device in the embodiment of the present application;

[0027] Figure 9 Figure 5 is a structural schematic diagram of a welding device in the embodiment of the present application;

[0028] Figure 10 Figure 6 is a structural schematic diagram of a module platform, a hoisting telescopic platform and a walking escalator in the embodiment of the present application;

[0029] Figure 11 Figure 7 is a structural schematic diagram of the hoisting telescopic platform in the embodiment of the present application.

[0030] BRIEF DESCRIPTION OF THE DRAWINGS

[0031] 1, Stepping device, 1.1, Support main body, 1.1.1, Main bearing structure, A1, Vehicle transportation channel, 1.1.2, Support telescopic legs, 1.2, Sliding door frame, 1.2.1, Frame bearing structure, 1.2.2, Frame telescopic legs, 1.2.3, Upper sliding roller group, 1.2.4, Lower sliding roller group, 1.3, Stepping drive mechanism, 2, Operation platform, 2.1, Support frame, 2.2, Module platform, 2.3, Walking staircase, 2.4, Hoisting telescopic platform, 2.5, Hoisting equipment, 3, Steel ring longitudinal traction device, 3.1, First mounting chassis, 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, Drive gear, 3.3, Second telescopic mechanism, 3.3.1, Drive screw, 3.3.2, Second sliding track, 3.3.3, Second 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, Positioning device, 5.1, Drive chassis, 5.2, Roller detection mechanism, 5.2.1, Mounting seat, 5.2.2, Detection roller, 5.2.3, Elastic force adjusting assembly, 5.2.4, Displacement sensor, 5.3, Fine positioning mechanism, 5.3.1, Fine adjustment drive assembly, 5.3.2, Fine adjustment moving platform, 5.3.3, Fine adjustment grabbing assembly, B1, Second suction cup, B2, Telescopic drive, B3, Grabbing guide, 6, Steel ring support device, 6.1, Second mounting chassis, 6.2, Bracket telescopic mechanism, 6.3, Roller bracket, 6.3.1, Pulley, 6.4, Bracket guide mechanism, 7, Ring-shaped walking track.

[0032] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments in combination with the drawings. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be described in detail below with reference to the drawings, but the present application can be implemented in various different ways limited and covered by the claims.

[0034] The present application proposes a steel ring lining positioning welding trolley, hereinafter referred to as welding trolley, which aims to solve the problems of complex construction process and easy misalignment of existing devices.

[0035] Example 1

[0036] As Figure 1As shown, the embodiment provides a steel ring lining alignment welding trolley, which comprises a stepping device 1, a working platform 2, a steel ring longitudinal traction device 3, a ring-shaped running track 7, a welding device 4 and an alignment device 5. The stepping device 1 is capable of moving in 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 and is used for grabbing a steel ring and moving the steel ring to a butt joint position. The ring-shaped running track 7 is arranged on the working platform 2. The welding device 4 is capable of walking along the ring-shaped running track 7 and welding a weld joint between adjacent steel rings. The alignment device 5 is capable of walking along the ring-shaped running track 7 and is used for adjusting the misalignment of the steel ring. The running track does not need to be laid at the bottom of the construction area. The stepping device 1 can drive the working platform 2 to move in the first direction to perform the next steel ring welding. The steel ring longitudinal traction device 3 can grab the steel ring on the inside of the steel ring and move the steel ring to the butt joint position, which can reduce the excavation size of the construction area. In addition, the alignment device 5 is used for detecting the misalignment size of the steel ring and quickly adjusting the position of the steel ring to solve the misalignment problem, which meets the welding positioning requirements, and the construction process is simple, and the welding efficiency and welding quality can be effectively guaranteed.

[0037] Referring to Figure 2 and Figure 3 , the stepping device 1 comprises a support main body 1.1, a sliding gantry 1.2 and a stepping driving mechanism 1.3. The support main body 1.1 comprises a main bearing structure 1.1.1 and a support telescopic leg 1.1.2. The main bearing structure 1.1.1 forms a vehicle transportation channel A1 extending in the first direction, and at least one support telescopic leg 1.1.2 is arranged at each end of the main bearing structure 1.1.1 in the first direction. The support telescopic leg 1.1.2 can be lifted in the vertical direction. The sliding gantry 1.2 comprises 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 arranged at each end of the gantry bearing structure 1.2.1 in the first direction. The gantry telescopic leg 1.2.2 can be lifted in the vertical direction. The stepping driving mechanism 1.3 is arranged on the main bearing structure 1.1.1, and the output end of the stepping driving mechanism 1.3 is connected with the gantry bearing structure 1.2.1. The stepping driving mechanism 1.3 can drive the gantry bearing structure 1.2.1 to move in the first direction.

[0038] When the welding trolley is working, the portal telescopic legs 1.2.2 and the supporting telescopic legs 1.1.2 are extended to support the load of the welding trolley on the ground, and the supporting telescopic legs 1.1.2 are always located outside the portal telescopic legs 1.2.2. When the welding trolley steps and slides, the supporting telescopic legs 1.1.2 are retracted, and the supporting main body 1.1 is driven to move in the first direction under the action of the stepping driving mechanism 1.3. After moving to the next welding position, the supporting telescopic legs 1.1.2 are extended to support, and the portal telescopic legs 1.2.2 are retracted, and the sliding portal 1.2 is driven to move under the action of the stepping driving device. The above movement is a step movement of the welding trolley. The welding trolley can realize the movement of the operation platform 2 in the first direction through the stepping device 1, so as to facilitate the welding of the next steel ring. In the embodiment, the welding trolley is applied to the lining construction of the gas storage chamber, and the bottom of the chamber does not need to be paved with a running track, but only needs to be moved through the stepping device 1 of the welding trolley to realize the lining construction of the whole chamber. In the embodiment, the upper end and the lower end of the sliding portal 1.2 are respectively connected with the supporting main body 1.1 through the upper sliding roller group 1.2.3 and the lower sliding roller group 1.2.4, and the supporting main body 1.1 is provided with the upper sliding track matched with the upper sliding roller group 1.2.3 and the lower sliding track matched with the lower sliding roller group 1.2.4.

[0039] Referring to Figures 3 to 6The steel ring longitudinal traction device 3 comprises a first mounting chassis 3.1, a first-stage telescopic mechanism 3.2, a second-stage telescopic mechanism 3.3 and a steel ring grabbing mechanism 3.4. The first mounting chassis 3.1 is arranged on the working platform 2. The first-stage telescopic mechanism 3.2 is arranged on the first mounting chassis 3.1. The second-stage telescopic mechanism 3.3 is arranged on the first-stage telescopic mechanism 3.2. The steel ring grabbing mechanism 3.4 comprises a first suction cup 3.4.1, a telescopic driving assembly 3.4.2 and a telescopic guiding assembly 3.4.3. The first suction cup 3.4.1 is connected with an output end of the telescopic driving assembly 3.4.2. The telescopic driving assembly 3.4.2 is arranged on the second-stage telescopic mechanism 3.3. The first suction cup 3.4.1 is arranged on the second-stage telescopic mechanism 3.3 through the telescopic guiding assembly 3.4.3. The first-stage telescopic mechanism 3.2 can drive the second-stage telescopic mechanism 3.3 to move in a first direction. The second-stage telescopic mechanism 3.3 can drive the steel ring grabbing mechanism 3.4 to move in the first direction. When grabbing the steel ring, the steel ring grabbing mechanism extends into the steel ring on the steel ring conveying device under the action of the first-stage telescopic mechanism 3.2 and the second-stage telescopic mechanism 3.3. The telescopic driving assembly 3.4.2 drives the first suction cup 3.4.1 to extend, so that the first suction cup 3.4.1 can be adjusted in the radial direction of the steel ring to be adsorbed on the inner wall of the steel ring. Meanwhile, the telescopic guiding assembly 3.4.3 can guide the telescopic action to ensure the stability of the operation. Then, the first-stage telescopic mechanism 3.2 and the second-stage telescopic mechanism 3.3 move the steel ring to a butt joint position corresponding to the welded steel ring. At this time, the rough positioning of the steel ring welding is completed, the size of the chamber excavation can be reduced, the grabbing interface structure can be omitted, the construction process can be reduced, and the operation efficiency can be improved.

[0040] The first telescopic mechanism 3.2 comprises a first sliding rail 3.2.1, a first sliding platform 3.2.2, a first sliding motor 3.2.3, a rack 3.2.4 and a drive gear 3.2.5. The first sliding rail 3.2.1 is arranged on the first mounting chassis 3.1. The first sliding platform 3.2.2 is arranged on the first sliding rail 3.2.1 and slides in a first direction. The first sliding motor 3.2.3 is arranged on the first mounting chassis 3.1 or the first sliding rail 3.2.1. The rack 3.2.4 is arranged on the first sliding platform 3.2.2. The drive gear 3.2.5 is connected with an output shaft of the first sliding motor 3.2.3 and engages with the rack 3.2.4. The drive gear 3.2.5 rotates under the action of the first sliding motor 3.2.3, pushes the first sliding platform 3.2.2 to slide in the first direction along the first sliding rail 3.2.1, and drives 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 welding position of the steel ring.

[0041] In the embodiment, the second telescopic mechanism 3.3 comprises a second sliding rail 3.3.2, a second sliding platform 3.3.3, a second sliding motor, a drive screw 3.3.1 and a driven nut. The second sliding rail 3.3.2 is arranged on the first sliding platform 3.2.2 in the first direction. The telescopic driving assembly 3.4.2 and the telescopic guiding assembly 3.4.3 are arranged on the second sliding platform 3.3.3, and the second sliding platform 3.3.3 is connected with the driven nut. The driven nut is threadedly connected with the drive screw 3.3.1. Under the action of the drive screw 3.3.1, the second sliding platform 3.3.3 connected with the driven nut moves along the second sliding rail 3.3.2. Under the transmission action of the drive gear 3.2.5 and the rack 3.2.4, the first sliding platform 3.2.2 moves along the first sliding rail 3.2.1, so as to realize the two-stage sliding function of the steel ring grabbing mechanism 3.4, so as to quickly grab the steel ring and move the steel ring to the butt joint position.

[0042] Referring to Figure 7The alignment device 5 comprises a driving chassis 5.1 capable of walking along the annular walking track 7, a roller detection mechanism 5.2, and a fine positioning mechanism 5.3. The roller detection mechanism 5.2 comprises a buzzer and at least two detection assemblies, each detection assembly comprising a mounting seat 5.2.1, a detection roller 5.2.2, a spring adjusting assembly 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 spring adjusting assembly 5.2.3. The displacement sensor 5.2.4 is arranged on the driving chassis 5.1, 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 under the action of the elastic extension assembly. Both the displacement sensor 5.2.4 and the buzzer are electrically connected to the control console. The fine positioning mechanism 5.3 is arranged on the driving chassis 5.1 and is used to adjust the misalignment of the steel ring. The detection roller 5.2.2 can be elastically extended in the radial direction of the steel ring through the spring adjusting assembly 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. The driving chassis 5.1 is connected to the control console. When misalignment detection is performed, two detection rollers 5.2.2 are respectively pre-pressed on the welded steel ring and the steel ring to be welded, and the pre-pressing forces of the two detection rollers 5.2.2 are set to be the same. When the two steel rings are misaligned, the two detection rollers 5.2.2 extend different displacements under the action of the spring adjusting 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 buzzing sound and controls the driving chassis 5.1 to move along the annular walking track 7, thereby moving the detection roller 5.2.2 to detect the misalignment of the steel ring to be welded. The fine positioning mechanism 5.3 adjusts the position of the steel ring according to the misalignment size of the steel ring, so as to solve the problem of misalignment of the steel ring.

[0043] Specifically, the fine positioning mechanism 5.3 includes a fine adjustment driving assembly 5.3.1, a fine adjustment moving platform 5.3.2 and a fine adjustment grabbing assembly 5.3.3, the fine adjustment driving assembly 5.3.1 is arranged on the driving chassis 5.1, the fine adjustment moving platform 5.3.2 is arranged on the driving chassis 5.1 and slides in the first direction, and the fine adjustment grabbing assembly 5.3.3 includes a second suction cup B1, a telescopic driving piece B2 and a grabbing guide B3, the second suction cup B1 is connected with the output end of the telescopic driving piece B2, the telescopic driving piece B2 is arranged on the fine adjustment moving platform 5.3.2, and the second suction cup B1 is connected with the fine adjustment moving platform 5.3.2 through the grabbing guide B3. After the second suction cup B1 extends to the position, the second suction cup B1 adsorbs the steel ring to be welded, and the fine adjustment moving platform 5.3.2 drives the second suction cup B1 to move through the telescopic driving piece B2, so as to adjust the misalignment of the steel ring, preferably, the telescopic driving piece B2 is a high-precision linear moving driving device, which drives the fine adjustment grabbing assembly 5.3.3 to move in the first direction and meets the operation requirement of the small gap between the two adjacent steel rings, so as to ensure the welding quality.

[0044] Referring to Figure 8 , the steel ring lining alignment welding trolley further includes a steel ring supporting device 6, the steel ring supporting device 6 includes a second mounting chassis 6.1, a bracket telescopic mechanism 6.2, a roller bracket 6.3 and a bracket guide mechanism 6.4, the second mounting chassis 6.1 is arranged on the operation platform 2, the bracket telescopic mechanism 6.2 is arranged on the second mounting chassis 6.1, the roller bracket 6.3 is connected with the output end of the bracket telescopic mechanism 6.2, and the roller bracket 6.3 is connected with the second mounting chassis 6.1 through the bracket guide mechanism 6.4, the roller bracket 6.3 is provided with a pulley 6.3.1 arranged in the first direction, and the bracket telescopic mechanism 6.2 can drive the roller bracket 6.3 to move close to or away from the steel ring. After the steel ring longitudinal traction device 3 grabs the steel ring, the steel ring moves above the steel ring supporting device 6, the roller bracket 6.3 of the steel ring supporting device 6 extends to support the steel ring under the action of the bracket telescopic mechanism 6.2, so as to provide support and guide for the longitudinal movement of the steel ring. The pulley 6.3.1 which can longitudinally roll is installed on the roller bracket 6.3, so as to reduce the resistance of the steel ring sliding and improve the operation efficiency.

[0045] Referring to Figure 9The 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 slidingly arranged on the annular running track 7 and can run along the annular running track 7; the multi-axis freedom welding robot 4.2 is arranged on the welding chassis trolley 4.1 and is used for welding the weld between adjacent steel rings; the welding device 4 further comprises a dust removal mechanism, the dust removal mechanism is arranged on the operation platform 2, and the flexible dust removal pipeline of the dust removal device is in communication with the mechanical arm of the multi-axis freedom welding robot 4.2. In the embodiment, the welding device 4 further comprises a welding machine, a welding control system and a gas cylinder, the welding machine is used for providing and controlling power supply to the welding gun, and the gas cylinder is used for providing auxiliary protective gas for welding. After the alignment device 5 adjusts the misalignment of the steel ring, the operator sets the welding posture and welding route of the multi-axis freedom welding robot 4.2 through the welding control system, and completes the full-position welding operation of the weld between two steel rings; during the welding process, the flexible dust removal pipeline of the dust removal device is fixedly connected with the mechanical arm of the multi-axis freedom welding robot 4.2 to process the harmful gas generated at the welding position.

[0046] In the embodiment, the number of the steel ring longitudinal traction devices 3 is multiple, and each steel ring longitudinal traction device 3 is distributed in a circumferential direction of the operation platform 2. Each steel ring longitudinal traction device 3 distributed in the circumferential direction simultaneously grabs and moves the steel ring, which not only ensures the stability of the operation, but also does not need to build a platform to disassemble and assemble the support tooling of the steel ring, thereby ensuring the shape accuracy of the steel ring.

[0047] In the embodiment, the number of the steel ring support devices 6 is multiple, and each steel ring support device 6 is distributed in a circumferential direction of the operation platform 2. The multiple steel ring support devices 6 cooperatively support the steel ring to further improve the stability of the movement of the steel ring, and the multiple steel ring support devices 6 are unevenly distributed in the circumferential direction. The upper part and the lower part of the steel ring bear in different ways (for example, four supports are arranged at the main bearing position of the top, one support is arranged at each side for smaller tensile bearing, and no support is arranged at the bottom), and the uneven distribution according to the bearing characteristics can reduce the number of steel ring support devices.

[0048] In the embodiment, the number of the welding devices 4 is multiple, and each welding device 4 is uniformly arranged on the annular running track 7 to divide the annular running track 7 into multiple areas, each area corresponds to one welding device 4, and multiple welding devices 4 simultaneously perform welding operation, which is beneficial to improve the welding operation efficiency.

[0049] Referring to Figure 10 and Figure 11The work platform 2 comprises a support frame 2.1, a module platform 2.2, a walking ladder 2.3, a lifting telescopic platform 2.4 and a lifting device 2.5, the support frame 2.1 is arranged on the sliding door frame 1.2; a plurality of module platforms 2.2 and lifting telescopic platforms 2.4 are arranged on the support frame 2.1 in the vertical direction, and two adjacent module platforms 2.2 are connected by the walking ladder 2.3; the walking ladder 2.3 is arranged on the side of the support frame 2.1 facing away from the ring-shaped walking track 7; the lifting telescopic platform 2.4 is arranged on the side of the support frame 2.1 facing the ring-shaped walking track 7, and the lifting telescopic platform 2.4 can be extended or retracted in the first direction; the lifting device 2.5 is arranged on the support frame 2.1, and the lifting device 2.5 is used for lifting materials. The work platform 2 in the embodiment is modularly arranged, and convenient disassembly, transportation and transfer of the platform can be realized. The lifting telescopic platform 2.4 can avoid occupying the vertical lifting space of the lifting device 2.5, and when the lifting telescopic platform 2.4 is not required to carry the lifting materials, the lifting telescopic platform 2.4 is retracted into the work platform 2, and when the lifting materials are required to be carried, the lifting telescopic platform 2.4 is extended out of the work platform 2. The lifting device 2.5 is installed on the high-level work platform 2. The work platform 2 can meet the requirements of personnel work on the circumferential weld and full-position maintenance and repair of the welding device 4.

[0050] The above description is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structural transformation, direct / indirect application in other related technical fields under the inventive concept of the present application, and the contents of the present application specification and drawings are included in the patent protection scope of the present application.

Claims

1. A steel ring liner alignment welding trolley, characterized in that it comprises a stepping device (1), a working platform (2), a steel ring longitudinal traction device (3), an annular 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 disposed on the stepping device (1); the steel ring longitudinal traction device (3) is disposed on the working platform (2) for gripping the steel ring and moving the steel ring to the docking position; the annular running track (7) is disposed on the working platform (2); the welding device (4) is capable of moving along the annular running track (7) and welding the weld between adjacent steel rings; the alignment device (5) is capable of moving along the annular running track (7) for adjusting the misalignment of the steel rings; The stepping device (1) includes a support body (1.1), a sliding gantry (1.2), and a stepping drive mechanism (1.3). The support body (1.1) includes a main load-bearing structure (1.1.1) and a support telescopic leg (1.1.2). The main load-bearing structure (1.1.1) forms a vehicle transport channel (A1) extending along a first direction, and at least one support telescopic leg (1.1.2) is provided at each end of the main load-bearing structure (1.1.1) along the first direction. The support telescopic leg (1.1.2) can be raised and lowered in the vertical direction. The sliding gantry (1.2) includes a gantry load-bearing structure (1.2.1) and a gantry telescopic leg (1.2.2). The gantry load-bearing structure (1.2.1) is slidably disposed on the main load-bearing structure (1.1.1). On the main support structure (1.1.1), at least one telescopic support leg (1.2.2) is provided at each end of the main support structure (1.1.1) along the first direction, and the telescopic support leg (1.2.2) can be raised and lowered in the vertical direction; the stepping drive mechanism (1.3) is provided on the main support structure (1.1.1), and the output end of the stepping drive mechanism (1.3) is connected to the main support structure (1.2.1), and the stepping drive mechanism (1.3) can drive the main support structure (1.2.1) to move along the first direction.

2. The steel ring liner alignment welding trolley as described in claim 1, characterized in that, The longitudinal traction device (3) for the steel ring includes a first mounting base (3.1), a primary telescopic mechanism (3.2), a secondary telescopic mechanism (3.3), and a steel ring gripping mechanism (3.4). The first mounting base (3.1) is mounted on the working platform (2); the primary telescopic mechanism (3.2) is mounted on the first mounting base (3.1); the secondary telescopic mechanism (3.3) is mounted on the primary telescopic mechanism (3.2); and the steel ring gripping mechanism (3.4) includes a first suction cup (3.4.1), a telescopic drive assembly (3.4.2), and a telescopic guide assembly (3.4). 3.4.3), the first suction cup (3.4.1) is connected to the output end of the telescopic drive assembly (3.4.2), the telescopic drive assembly (3.4.2) is disposed on the secondary telescopic mechanism (3.3), and the first suction cup (3.4.1) is disposed on the secondary telescopic mechanism (3.3) through the telescopic guide assembly (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 gripping mechanism (3.4) to move along the first direction.

3. The steel ring liner alignment welding trolley as described in claim 2, characterized in that, The primary telescopic mechanism (3.2) includes a primary sliding rail (3.2.1), a primary sliding platform (3.2.2), a primary sliding motor (3.2.3), a rack (3.2.4), and a drive gear (3.2.5). The primary sliding rail (3.2.1) is mounted on the first mounting base (3.1). The primary sliding platform (3.2.2) is slidably mounted on the primary sliding rail (3.2.1) along a first direction. The primary sliding motor (3.2.3) is mounted on either the first mounting base (3.1) or the primary sliding rail (3.2.1). The rack (3.2.4) is mounted on the primary sliding platform (3.2.2). The drive gear (3.2.5) is connected to the output shaft of the primary sliding motor (3.2.3), and the drive gear (3.2.5) meshes with the rack (3.2.4).

4. The steel ring liner alignment welding trolley as described in claim 3, characterized in that, The alignment device (5) includes a drive chassis (5.1), a roller detection mechanism (5.2), and a precision positioning mechanism (5.3). The drive chassis (5.1) is capable of traveling along the annular track (7). The roller detection mechanism (5.2) includes a buzzer and at least two detection components. Each detection component includes a mounting base (5.2.1), a detection roller (5.2.2), a spring adjustment component (5.2.3), and a displacement sensor (5.2.4). The mounting base (5.2.1) is mounted on the drive chassis via the spring adjustment component (5.2.3). The displacement sensor (5.2.4) is mounted on the drive chassis (5.1), and the mounting base (5.2.1) is connected to the input end of the displacement sensor (5.2.4) via an extension rod. The displacement sensor (5.2.4) is used to monitor the displacement of the detection roller (5.2.2) under the action of the elastic telescopic component. The displacement sensor (5.2.4) and the buzzer are both electrically connected to the control console. The precision positioning mechanism (5.3) is mounted on the drive chassis (5.1) and is used to adjust the misalignment of the steel ring.

5. The steel ring liner alignment welding trolley as described in claim 4, characterized in that, The precision positioning mechanism (5.3) includes a precision adjustment drive assembly (5.3.1), a precision adjustment moving platform (5.3.2), and a precision adjustment gripping assembly (5.3.3). The precision adjustment drive assembly (5.3.1) is mounted on the drive chassis (5.1). The precision adjustment moving platform (5.3.2) is slidably mounted on the drive chassis (5.1) along a first direction. The precision adjustment gripping assembly (5.3.3) includes a second suction cup (B1), a telescopic drive member (B2), and a gripping 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 mounted on the precision adjustment moving platform (5.3.2), and the second suction cup (B1) is connected to the precision adjustment moving platform (5.3.2) through the gripping guide member (B3).

6. The steel ring liner alignment welding trolley as described in claim 5, characterized in that, The steel ring liner alignment welding trolley also includes a steel ring support device (6), which includes a second mounting base (6.1), a support telescopic mechanism (6.2), a roller support (6.3), and a support guide mechanism (6.4). The second mounting base (6.1) is mounted on the work platform (2); the support telescopic mechanism (6.2) is mounted on the second mounting base (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 (6.1) through the support guide mechanism (6.4); the roller support (6.3) is provided with a pulley (6.3.1) arranged in a first direction; the support telescopic mechanism (6.2) can drive the roller support (6.3) to move closer to or away from the steel ring.

7. The steel ring liner alignment welding trolley as described in claim 6, characterized in that, The welding device (4) includes a welding chassis trolley (4.1) and a multi-axis welding robot (4.2). The welding chassis trolley (4.1) is slidably mounted on the annular running track (7) and can travel along the annular running track (7). The multi-axis welding robot (4.2) is mounted on the welding chassis trolley (4.1) and is used to weld the weld between adjacent steel rings. The welding device (4) also includes a dust removal mechanism, which is mounted on the work platform (2) and the flexible dust removal pipe of the dust removal mechanism is connected to the robotic arm of the multi-axis welding robot (4.2).

8. The steel ring liner alignment welding trolley as described in claim 7, characterized in that, The number of the longitudinal traction devices (3) of the steel ring is multiple, and each of the longitudinal traction devices (3) of the steel ring is circumferentially distributed 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 circumferentially distributed along the working platform (2); And / or, the number of welding devices (4) is multiple, and each welding device (4) is evenly arranged on the annular running track (7).

9. The steel ring liner alignment welding trolley as described in any one of claims 2 to 8, wherein the working platform (2) comprises a support frame (2.1), a modular platform (2.2), a traveling ladder (2.3), a hoisting telescopic platform (2.4), and hoisting equipment (2.5), wherein the support frame (2.1) is mounted on the sliding gantry (1.2); the support frame (2.1) is provided with a plurality of modular platforms (2.2) and hoisting telescopic platforms (2.4) spaced apart in the vertical direction, wherein two adjacent modular platforms (2.2) are connected by the escalator (2.3); the escalator (2.3) is located on the side of the support frame (2.1) facing away from the annular running track (7); the hoisting telescopic platform (2.4) is located on the side of the support frame (2.1) facing the annular running track (7), and the hoisting telescopic platform (2.4) can extend or retract in a first direction; the hoisting equipment (2.5) is located on the support frame (2.1), and the hoisting equipment (2.5) is used to hoist materials.

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