Welding equipment for steel pipe in horizontal inclined shaft environment and welding method of welding equipment

Abstract

The invention relates to the field of large-diameter steel pipe welding, in particular to welding equipment and a welding method for a steel pipe in a horizontal inclined shaft environment, the welding equipment for the steel pipe in the horizontal inclined shaft environment comprises a middle sleeve, and a radial telescopic rod is rotationally connected to the middle sleeve; stretching fixing devices used for being fixed to the side wall of a pipeline are symmetrically arranged in the axial direction of the middle sleeve, a welding device is fixedly installed at the tail end of the radial telescopic rod and comprises a welding shell, and two advancing wheels controlled by a servo motor are rotationally connected into the welding shell; a welding gun device is arranged at the position, between the two advancing wheels, of the welding shell, a wire feeding mechanism is integrally installed on the welding gun device, and a master control module capable of regulating and controlling the wire feeding speed of the wire feeding mechanism is further integrally installed in the welding shell. The problem that in the prior art, a welding device or a welding robot is not suitable for welding the steel pipe in the construction environment or the welding track is irregular can be solved.

Description

Technical Field

[0001] This invention relates to the field of large-diameter steel pipe welding technology, and in particular to a welding equipment and welding method for steel pipes in a horizontal or inclined well environment. Background Technology

[0002] In the construction of pumped storage power stations, the fabrication of pressure steel pipe sections is generally completed at the pressure steel pipe factory, including processes such as material cutting, pre-bending (pressing), plate rolling, assembly, longitudinal seam welding, and corrosion protection. A single section of steel pipe is typically 3 meters long. To improve efficiency, many projects splice two sections into one large section at the steel pipe factory before transporting it to the construction site for installation. The entire installation process includes transportation, hoisting, seam pressing, circumferential welding, corrosion protection, and concrete backfilling. Welding at the pressure steel pipe construction site involves a large amount of circumferential welding work; currently, manual arc welding is the primary welding technique.

[0003] For both horizontal and vertical shafts, asymmetrical X-shaped bevels are typically used. The bevel height on the inside of the steel pipe is 2 / 3 of the steel plate thickness, and the bevel height on the diameter of the steel pipe and tunnel wall is 1 / 3. The bevel angle is 60°. During the welding process inside the steel pipe, the work station is located inside the tunnel, which is a confined environment with unfavorable factors such as limited space, insufficient ventilation, and dim lighting. The welding process generates a large amount of smoke, noise, and arc light, which has an adverse effect on the health of welders. At the same time, the welding time for a single circumferential seam may be as long as 24 hours or even longer.

[0004] There are also existing methods of using welding robots for welding. There are two main types of welding robots: one is the track-type welding robot, which requires special track laying for welding. Each time a track section is welded, it must be laid and disassembled again, which is very inconvenient. The other type is the magnetic adsorption welding robot, which mainly relies on magnetic adsorption. However, its load capacity is often limited, and it is prone to deviation during its movement in the pipe, resulting in a decrease in welding quality. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a welding equipment and welding method for steel pipes in a horizontal and inclined well environment, so as to solve the problems of existing welding equipment or welding robots that are not easy to weld steel pipes in the construction environment or have irregular welding trajectories.

[0006] To achieve the above-mentioned technical features, the objective of this invention is as follows: a welding device for steel pipes in a horizontal or inclined well environment, comprising: An intermediate sleeve, on which a radial telescopic rod is rotatably connected; Extension fixing device, wherein extension fixing devices are provided on both sides of the radial telescopic rod on the intermediate sleeve; A welding device is fixedly installed at the end of a radial telescopic rod. The welding device includes a welding housing. A travel groove is provided at the middle end of the welding housing away from the intermediate sleeve. Two travel wheels controlled by servo motors are symmetrically rotatably connected in the travel groove. A welding gun device is installed in the middle position of the two travel wheels inside the welding housing. A wire feeding mechanism is installed on the welding gun device. A master control module capable of adjusting the wire feeding speed of the wire feeding mechanism is also installed on the welding housing.

[0007] The welding housing is equipped with a vision scanning device for scanning the weld at one end away from the intermediate sleeve. The vision scanning device scans the width, depth, and side tilt angle of the weld and transmits the information to the main control module. The main control module automatically generates the welding path and controls the servo motor in the welding device to control the welding torch to scan the weld according to the welding path.

[0008] The welding path generated by the visual scanning device is a line that fits the weld seam.

[0009] The welding gun device includes a first movable slider and a second movable slider. The first movable slider is slidably connected to the welding shell in a direction perpendicular to the radial direction of the intermediate sleeve. The second movable slider is slidably connected in the first movable slider. Both the first and second movable sliders are controlled by a servo screw to slide. The welding gun is fixedly installed on the second movable slider. The wire feeding mechanism is fixedly installed on the welding gun.

[0010] The welding path generated by the visual scanning device is an oscillating shape that fits the weld seam.

[0011] The welding torch device includes a third movable slider, which is slidably connected to the welding shell along the radial direction of the intermediate sleeve. The welding torch is pivotally connected to the third movable slider, and a swing rod is fixedly installed on the welding torch. A swing groove is provided on the swing rod. A driving slider is slidably connected to the third movable slider, and the driving slider is slidably connected to the swing groove. The sliding of the third movable slider and the second movable slider are both controlled by a servo screw. The wire feeding mechanism is fixedly installed on the welding torch.

[0012] During the welding process, the vision scanning device updates the width and depth data of the remaining weld seam in real time and uploads the data to the central control module. The central control module calculates the thickness and width of the metal to be filled in each weld according to the data and adjusts the welding path in real time.

[0013] The wire feeding mechanism includes a wire feeding rod, which has a double-layer structure of inner and outer layers. A clamping spring is fixedly installed between the inner and outer layers of the wire feeding rod. Multiple clamping springs are evenly distributed along the circumference of the wire feeding rod. A wire feeding wheel is rotatably connected to the clamping spring and passes through the inner layer of the wire feeding rod.

[0014] The extension and fixing device includes a first extension rod, a second extension rod, a support rod, an extension slider, and an extension screw. Both ends of the intermediate sleeve have extension slots, which are evenly distributed around the circumference of the intermediate sleeve. Each extension slot is pivotally connected to a first extension rod and a second extension rod. The first and second extension rods are arranged parallel to each other. The ends of the first and second extension rods in each extension slot are hinged to a support rod. Two extension sliders are symmetrically arranged in the intermediate sleeve, and an extension screw is rotatably connected to the intermediate sleeve. The extension screw is threadedly connected to each of the two extension sliders, and the thread directions at the threaded connections between the extension screw and the two extension sliders are opposite. Each extension slider is pivotally hinged to a linkage rod corresponding to the second extension rod, and the linkage rod is slidably connected to the second extension rod.

[0015] A welding method for steel pipes in a horizontally inclined shaft environment, the welding method being applicable to the welding equipment for steel pipes in a horizontally inclined shaft environment, the welding method comprising the following steps: S1: The welding equipment is fixedly mounted inside the pipe by extending the fixing device, and the welding equipment is aligned with the weld position of the steel pipe. The length of the radial telescopic rod is changed so that the traveling wheel on the welding shell contacts the inner wall of the steel pipe. The traveling wheel is rotated by the servo motor, and the welding gun device welds the weld of the pipe at the same time. S2: The wire feeding mechanism feeds the welding gun with welding wire. At the same time, the servo motor that drives the traveling wheel transmits the speed signal to the main control module during rotation. The main control module knows the moving speed of the welding device on the pipeline and adjusts the wire feeding speed of the wire feeding mechanism in real time according to the moving speed of the welding device. S3: A three-dimensional model of the weld is obtained through a scanning device. During the welding process, the position that the welding material can fill during each welding is compared with the scanned three-dimensional model. The equal area method is used to plan the weld bead for a single weld layer. Near the bevel, the speed of the wire feeding mechanism is changed to ensure that the weld layer can completely fit the weld. The equal height method is used to compare the height of the welding material accumulated during each welding with the height of the weld in real time, thereby obtaining the number of layers required to be welded during the welding process. Then, the path that the welding torch needs to move during the welding process is obtained.

[0016] The present invention, which adopts the above technical solution, has the following prominent features compared with the prior art: 1. This invention uses a stretching and fixing device to fix the welding equipment inside the pipe and align the welding equipment with the weld seam of the steel pipe. The radial telescopic rod is a hydraulic rod. By changing the length of the radial telescopic rod, the traveling wheel on the welding shell contacts the side wall of the shell. The traveling wheel is rotated by a servo motor, and the welding gun device welds the weld seam of the pipe. This allows the welding device to obtain sufficient support to weld the pipe.

[0017] 2. This invention compares the area that the welding material can fill with the scanned 3D model during each welding process, and uses the equal area method to plan the weld bead for each weld layer. Near the bevel, the speed of the wire feeding mechanism can be changed to ensure that the weld layer can completely fit the weld, ensuring good heat fusion. The equal height method compares the height of the welding material accumulated in each welding process with the height of the weld in real time, thereby obtaining the number of layers required for welding and the path that the welding torch needs to move during the welding process, thus improving the accuracy of the welding process.

[0018] 3. The present invention uses a visual scanning device to update the width and depth of the remaining weld in real time during the welding process and reports it to the central control module. The central control module will calculate the thickness and width of the metal filled in each weld in the welding process based on the above information, adjust the welding path in real time, calculate the remaining welding time and upload it to the operator, and adjust the welding path in real time based on the above information to obtain better welding results. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 This is a schematic diagram of the overall structure of the intermediate sleeve of the present invention when it is cut open.

[0022] Figure 3 For the present invention Figure 2 A magnified schematic diagram of the structure at point A in the middle.

[0023] Figure 4 This is a schematic diagram of the structure of the first welding torch device in this invention.

[0024] Figure 5 This is a schematic diagram of the internal structure of the first movable slider in this invention.

[0025] Figure 6This is a schematic diagram of the structure of the second type of welding torch device in this invention.

[0026] Figure 7 This is a schematic diagram of the internal structure of the third movable slider in this invention.

[0027] Figure 8 This is a schematic diagram of the wire feeding structure in this invention.

[0028] Figure label: 1. Intermediate sleeve; 11. Telescopic rod; 12. Expansion groove; 2. Extension fixing device; 21. First extension rod; 22. Second extension rod; 23. Support rod; 24. Expansion slider; 25. Expansion screw; 26. Linkage rod; 3. Welding device; 31. Welding housing; 311. Travel groove; 312. Travel wheel; 4. Welding torch device; 41. First moving slider; 42. Second moving slider; 43. Third moving slider; 44. Swing rod; 441. Swing groove; 45. Drive slider; 5. Wire feeding mechanism; 51. Wire feeding rod; 52. Pressing spring; 53. Wire feeding wheel; 6. Scanning device; 7. Welding torch. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] Example 1: See Figure 1-8 The present invention provides a welding device for steel pipes in a horizontal and inclined well environment, including an intermediate sleeve 1, an extension and fixing device 2 and a welding device 3. A radial telescopic rod 11 is rotatably connected to the intermediate sleeve 1. The extension and fixing device 2 for fixing to the side wall of the pipe is installed on both sides of the radial telescopic rod 11 in the axial direction of the intermediate sleeve 1. The welding device 3 is fixedly installed at the end of the radial telescopic rod 11.

[0031] The welding device 3 includes a welding housing 31. A travel groove 311 is provided at the middle end of the welding housing 31 away from the middle sleeve 1. Two travel wheels 312 controlled by servo motors are symmetrically rotatably connected in the travel groove 311. A welding gun device 4 is installed in the middle position of the two travel wheels 312. A wire feeding mechanism 5 is integrated on the welding gun device 4. A master control module that can adjust the wire feeding speed of the wire feeding mechanism 5 is also integrated on the welding housing 31.

[0032] During the welding process of the circumferential weld seam inside the steel pipe using the welding equipment of the present invention, the welding equipment is fixedly mounted inside the pipe by the extension fixing device 2, and the welding equipment is aligned with the weld seam position of the steel pipe. The radial telescopic rod 11 can be a hydraulic rod or a cylinder. By changing the length of the radial telescopic rod 11, the traveling wheel 312 on the welding housing 31 comes into contact with the inner wall of the steel pipe. The servo motor installed on the welding housing 31 drives the traveling wheel 312 to rotate. At the same time, the welding gun device 4 welds the weld seam of the pipe. During the welding process, the wire feeding mechanism 5 needs to continuously feed the welding wire to the welding gun 7 at the welding position of the pipe. At the same time, the servo motor driving the traveling wheel 312 to rotate will transmit the speed signal to the main control module. The main control module can then know the moving speed of the welding device 3 on the pipe. At this time, it will adjust the wire feeding speed of the wire feeding mechanism 5 in real time according to the above data, so as to ensure that when the welding device 3 moves the same distance, the length of the welding wire fed by the wire feeding mechanism 5 is always uniform, thereby ensuring the uniformity of the welding process.

[0033] like Figure 4 As shown, a vision scanning device 6 for scanning the weld is integrated at the end of the welding housing 31 away from the intermediate sleeve 1. It scans the width, depth and side tilt angle of the weld and transmits the above information to the main control module. The main control module automatically generates the welding path and controls the servo motor in the welding device 3 to control the welding torch 7 to scan the weld according to the welding path.

[0034] It should be noted that during the welding process, the visual scanning device 6 uses laser scanning to obtain a three-dimensional model of the weld. Subsequently, during the welding process, the position that the welding material can fill during each welding is compared with the scanned three-dimensional model. The equal area method is used to plan the weld bead for each weld layer. Near the bevel, the speed of the wire feeding mechanism 5 can be changed to ensure that the weld layer can completely fit the weld and ensure good heat fusion. The equal height method is used to compare the height of the welding material accumulated in each welding with the height of the weld in real time, thereby obtaining the number of layers required for welding during the welding process, and then obtaining the path that the welding torch 7 needs to move during the welding process.

[0035] In one of the designs, the welding path generated by the visual scanning device 6 is a linear shape that fits the weld seam.

[0036] This weld configuration ensures that during the welding process, the welding path for each weld bead is approximately a circular path. As a result, the welding mechanism does not need to be repositioned during each welding process; it only needs to be controlled to move circumferentially, which greatly improves the welding speed.

[0037] like Figure 4 and Figure 5 As shown, the welding gun device 4 includes a first movable slider 41 and a second movable slider 42. The first movable slider 41 is slidably connected to the welding housing 31 in a direction perpendicular to the radial direction of the intermediate sleeve 1. The second movable slider 42 is slidably connected in the first movable slider 41. Both the first movable slider 41 and the second movable slider 42 are controlled by a servo screw to slide. The welding gun 7 is fixedly installed on the second movable slider 42, and the wire feeding mechanism 5 is fixedly installed on the welding gun 7.

[0038] Specifically, see Figure 4 A servo motor is installed on the right side inside the welded housing 31. A lead screw is fixed to the end of the output shaft of the servo motor. The lead screw is threadedly connected to the first movable slider 41 in the transverse direction to drive the first movable slider 41 to move laterally back and forth in the groove of the welded housing 31.

[0039] See Figure 5 A servo motor is installed at the bottom of the first movable slider 41. A lead screw is fixed to the end of the output shaft of the servo motor. The lead screw is threadedly connected to the second movable slider 42 in the longitudinal direction to drive the second movable slider 42 to move up and down reciprocally in the groove of the first movable slider 41.

[0040] It should be noted that during the welding process of the welding device 3 on the pipe, after completing the welding process of one weld pass, if the next weld pass is in the same layer, the position of the first moving slider 41 is controlled by the servo screw, thereby changing the lateral position of the welding torch 7 to weld the next weld pass. If the next weld pass is in a different layer, the first moving slider 41 and the second moving slider 42 can be moved together by the servo screw, thereby moving the head of the welding torch 7 to the starting position of the next layer weld pass. Through the above technical solution, during the single-layer welding process, it is only necessary to control the welding device 3 to rotate circumferentially, thereby greatly improving the welding speed.

[0041] In another embodiment, the welding path generated by the visual scanning device 6 is an oscillating shape that fits the weld seam.

[0042] It should be noted that when using the above welding path, the welding torch 7 welds one layer of the weld at a time. The advantage of this is that the number of hot and cold metal meltings is significantly reduced, thereby effectively improving the quality of the weld.

[0043] like Figure 6 and Figure 7As shown, the welding torch device 4 includes a third movable slider 43, which is slidably connected to the welding housing 31 along the radial direction of the intermediate sleeve 1. The welding torch 7 is rotatably connected in the third movable slider 43. A swing rod 44 is fixedly installed on the welding torch 7. A swing groove 441 is provided on the swing rod 44. A driving slider 45 is slidably connected in the third movable slider 43. The driving slider 45 is slidably connected to the swing groove 441. The third movable slider 43 and the second movable slider 42 are both controlled by a servo screw to slide. The wire feeding mechanism 5 is fixedly installed on the welding torch 7.

[0044] Specifically, in this plan, see Figure 6 A servo motor is installed at the bottom inside the welded housing 31. A lead screw is fixed to the end of the output shaft of the servo motor. The lead screw is threadedly connected to the third moving slider 43 in the longitudinal direction to drive the third moving slider 43 to move up and down reciprocally in the groove of the welded housing 31.

[0045] See Figure 7 A servo motor is installed on the right side inside the third moving slider 43. A lead screw is fixed to the end of the output shaft of the servo motor. The lead screw is threadedly connected to the driving slider 45 laterally to drive the driving slider 45 to move laterally back and forth. The welding torch 7 is hinged to the third moving slider 43 near its lower end via a pivot, allowing the welding torch 7 to swing left and right around the pivot. The lower end of the swing rod 44 has a swing groove 441. The end of the driving slider 45 away from the servo motor has a slot, which is movably engaged with the swing rod 44. A pin passes through the slot and the swing groove 441 of the driving slider 45, allowing the driving slider 45 to slide in the swing groove 441. The servo motor drives the lead screw to rotate, causing the driving slider 45 to swing left and right. The driving slider 45 drives the swing rod 44 to swing left and right. Since the swing rod 44 is fixedly connected to the welding torch 7, the welding torch 7 swings in the opposite direction.

[0046] It should be noted that during the welding process, during the single-layer welding process, the servo screw drives the slider 45 to reciprocate. While the slider 45 is reciprocating, the welding torch 7 is also reciprocating. The welding torch 7, in conjunction with the welding device 3 itself, moves along the circumference of the pipe during the reciprocating motion, thereby achieving the purpose of welding one layer at a time.

[0047] The visual scanning device 6 updates the width and depth of the remaining weld seam in real time during the welding process and reports it to the central control module. The central control module calculates the thickness and width of the metal filled in each weld during the welding process based on the above information, adjusts the welding path in real time, and calculates the remaining welding time and uploads it to the operator.

[0048] It should be noted that during the welding process, due to the influence of changes in temperature, humidity, and even gas composition, inconsistent weld layers are prone to occur. Therefore, during the welding process, the vision scanning device 6 uploads the scanning data to the central control module and adjusts the welding path in real time to obtain better welding results.

[0049] like Figure 8 As shown, the wire feeding mechanism 5 includes a wire feeding rod 51, which has a double-layer structure of inner and outer layers. A clamping spring 52 is fixedly installed between the inner and outer layers of the wire feeding rod 51. Multiple clamping springs 52 are evenly distributed along the circumference of the wire feeding rod 51. A wire feeding wheel 53 is rotatably connected to the clamping spring 52 and passes through the side of the wire feeding rod 51.

[0050] It should be noted that during the feeding of welding wire by the wire feeding mechanism 5, the servo motor drives the rotation of the wire feeding wheel 53 to feed the welding wire. The welding wire can be clamped by multiple circumferentially arranged wire feeding wheels 53. If the welding wire becomes loose during the feeding process, the wire feeding wheel 53 is fixed by the clamping spring 52, thus giving the wire feeding wheel 53 space to move radially along the wire feeding rod 51, so that welding wires of different diameters can be clamped.

[0051] Specifically, the wire feeding wheel 53 is rotatably mounted in the clamping spring 52 via the central shafts at both ends. The small servo motor that drives the wire feeding wheel 53 is movably mounted in the slide groove of the wire feeding rod 51. The output shaft of the servo motor is connected and supported to the central shaft of the wire feeding wheel 53 via a coupling, so that the small servo motor can move radially along the slide groove. The stator housing of the servo motor is stuck in the slide groove and the stator housing will not rotate.

[0052] like Figure 1 , Figure 2 and Figure 3 As shown, the extension fixing device 2 includes a first extension rod 21, a second extension rod 22, a support rod 23, an extension slider 24, and an extension screw 25. Extension slots 12 are provided on both the left and right sides of the intermediate sleeve 1, and multiple extension slots 12 are evenly distributed along the circumference of the intermediate sleeve 1. Each extension slot 12 is rotatably connected to a first extension rod 21 and a second extension rod 22. The first extension rod 21 and the second extension rod 22 are arranged in parallel. The ends of the first extension rod 21 and the second extension rod 22 in each extension slot 12 are hinged to a support rod 23. Two extension sliders 24 are symmetrically arranged in the intermediate sleeve 1, and an extension screw 25 is rotatably connected to the intermediate sleeve 1. The extension screw 25 is threadedly connected to the two extension sliders 24 respectively, and the thread directions at the threaded connection points of the extension screw 25 and the two extension sliders 24 are opposite, i.e., positive thread and negative thread. Each extension slider 24 is hinged to a linkage rod 26 corresponding to the second extension rod 22. (See also...) Figure 3 The linkage rod 26 is slidably inserted into the second extension rod 22.

[0053] It should be noted that when the welding device 3 is fixedly installed in the pipeline by the extension fixing device 2, by rotating the extension screw 25, the extension screw 25 will be threadedly connected to the extension slider 24, thereby causing the extension slider 24 to move axially along the intermediate sleeve 1. During the movement, the extension slider 24 will pull the second extension rod 22 to swing through the linkage rod 26. The second extension rod 22 will swing together with the first extension rod 21, thereby driving the support rod 23 to move until the support rod 23 contacts the side wall of the pipeline. Through the above technical solution, the intermediate sleeve 1 can be effectively placed in the middle position of the pipeline. In this way, the welding device 3 can ensure a good welding effect at every point during the process of welding the pipeline by moving circumferentially along the pipeline.

[0054] Example 2: This invention also provides a welding method for steel pipes in a horizontally inclined well environment. The welding method uses a welding equipment for steel pipes in a horizontally inclined well environment provided in Example 1, which is used for welding the internal circumferential weld of the pressure steel pipe. The welding method includes the following steps: Step 1: The welding equipment is fixedly mounted inside the pipe by extending and fixing device 2, and the welding equipment is aligned with the weld position of the steel pipe. The radial telescopic rod 11 is a hydraulic rod or a cylinder. By changing the length of the radial telescopic rod 11, the traveling wheel 312 on the welding shell 31 contacts the side wall of the shell. The traveling wheel 312 is driven to rotate by the servo motor, and at the same time, the welding gun device 4 will weld the weld of the pipe.

[0055] Step 2: The wire feeding mechanism 5 continuously feeds welding wire to the welding gun 7 at the welding position on the pipe. At the same time, the servo motor transmits the speed signal to the main control module during rotation. The main control module can then know the moving speed of the welding device 3 on the pipe. Based on the data, it will adjust the wire feeding speed of the wire feeding mechanism 5 in real time to ensure that the length of the welding wire fed by the wire feeding mechanism 5 is always uniform when the welding device 3 moves the same distance, thereby ensuring the uniformity of welding during the welding process.

[0056] Step 3: During welding, the scanning device 6 uses laser scanning to obtain a three-dimensional model of the weld. Subsequently, during the welding process, the position that the welding material can fill during each welding is compared with the scanned three-dimensional model. The equal area method is used to plan the weld bead for each weld layer. Near the bevel, the speed of the wire feeding mechanism 5 can be changed to ensure that the weld layer can completely fit the weld and ensure good heat fusion. The equal height method is used to compare the height of the welding material accumulated in each welding with the height of the weld in real time, thereby obtaining the number of layers required for welding. Then, the path that the welding torch 7 needs to move during the welding process is obtained, thereby adjusting the position of the welding torch 7 in real time to complete the welding of the annular weld inside the pressure steel pipe.

[0057] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position or specific orientation structure and operation. Therefore, they should not be construed as limitations on this invention.

[0058] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0059] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0060] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A welding device for steel pipes in a horizontal or inclined well environment, characterized in that, include: Intermediate sleeve (1), on which a radial telescopic rod (11) is rotatably connected. Extension fixing device (2), the intermediate sleeve (1) is provided with extension fixing device (2) on both sides of the radial telescopic rod (11). Welding device (3), the welding device (3) is fixedly installed at the end of radial telescopic rod (11), the welding device (3) includes welding housing (31), a travel groove (311) is provided at the middle end of the welding housing (31) away from the middle sleeve (1), two travel wheels (312) controlled by servo motor are symmetrically rotated in the travel groove (311), a welding gun device (4) is installed in the middle position of the two travel wheels (312) inside the welding housing (31), and a wire feeding mechanism (5) is installed on the welding gun device (4); a master control module that can adjust the wire feeding speed of the wire feeding mechanism (5) is also installed on the welding housing (31).

2. The welding equipment for steel pipes in a horizontal and inclined well environment according to claim 1, characterized in that, The welding shell (31) is equipped with a visual scanning device (6) for scanning the weld at one end away from the intermediate sleeve (1). The visual scanning device (6) scans the width, depth and side tilt angle of the weld and transmits the above information to the main control module. The main control module automatically generates the welding path and controls the welding torch (7) to scan the weld according to the welding path.

3. The welding equipment for steel pipes in a horizontal and inclined well environment according to claim 2, characterized in that, The welding path generated by the visual scanning device (6) is a line that fits the weld.

4. The welding equipment for steel pipes in a horizontal and inclined well environment according to claim 3, characterized in that, The welding gun device (4) includes a first movable slider (41) and a second movable slider (42). The first movable slider (41) is slidably connected to the welding shell (31) in a direction perpendicular to the radial direction of the intermediate sleeve (1). The second movable slider (42) is slidably connected in the first movable slider (41). The first movable slider (41) and the second movable slider (42) are both controlled by a servo screw. The welding gun (7) is fixedly installed on the second movable slider (42). The wire feeding mechanism (5) is fixedly installed on the welding gun (7).

5. The welding equipment for steel pipes in a horizontal and inclined well environment according to claim 2, characterized in that, The welding path generated by the visual scanning device (6) is an oscillating shape that fits the weld.

6. The welding equipment for steel pipes in a horizontal and inclined well environment according to claim 5, characterized in that, The welding gun device (4) includes a third movable slider (43), which is slidably connected to the welding shell (31) along the radial direction of the intermediate sleeve (1). The welding gun (7) is pivotally connected to the third movable slider (43), and a swing rod (44) is fixedly installed on the welding gun (7). A swing groove (441) is provided on the swing rod (44). A driving slider (45) is slidably connected to the third movable slider (43), and the driving slider (45) is slidably connected to the swing groove (441). The third movable slider (43) and the second movable slider (42) are controlled by servo screws to slide. The wire feeding mechanism (5) is fixedly installed on the welding gun (7).

7. The welding equipment for steel pipes in a horizontally inclined well environment according to any one of claims 3 to 6, characterized in that, During the welding process, the visual scanning device (6) updates the width and depth data of the remaining weld seam in real time and uploads the data information to the main control module. The main control module calculates the thickness and width of the metal filled in each weld in the welding process based on the data information and adjusts the welding path in real time.

8. The welding equipment for steel pipes in a horizontal and inclined well environment according to claim 1, characterized in that, The wire feeding mechanism (5) includes a wire feeding rod (51), which has a double-layer structure of inner and outer layers. A clamping spring (52) is fixedly installed between the inner and outer layers of the wire feeding rod (51). Multiple clamping springs (52) are evenly distributed along the circumference of the wire feeding rod (51). A wire feeding wheel (53) is rotatably connected to the clamping spring (52). The wire feeding wheel (53) passes through the inner layer of the wire feeding rod (51).

9. The welding equipment for steel pipes in a horizontal and inclined well environment according to claim 1, characterized in that, The extension fixing device (2) includes a first extension rod (21), a second extension rod (22), a support rod (23), an extension slider (24), and an extension screw (25). Both ends of the intermediate sleeve (1) are provided with extension slots (12). Multiple extension slots (12) are evenly distributed along the circumference of the intermediate sleeve (1). Each extension slot (12) is pivotally connected to a first extension rod (21) and a second extension rod (22). The first extension rod (21) and the second extension rod (22) are arranged in parallel. The first extension rod (21) in each extension slot (22) is... 1) The end of the second extension rod (22) is hinged to a support rod (23). Two extension sliders (24) are symmetrically arranged in the intermediate sleeve (1). An extension screw (25) is rotatably connected in the intermediate sleeve (1). The extension screw (25) is threaded to the two extension sliders (24) respectively. The thread direction of the extension screw (25) and the two extension sliders (24) is opposite. A linkage rod (26) is pivotally hinged to each extension slider (24) corresponding to the second extension rod (22). The linkage rod (26) is slidably connected to the second extension rod (22).

10. A welding method for steel pipes in a horizontally inclined well environment, characterized in that, This welding method is applicable to the welding equipment of claim 2, and includes the following steps: S1: By extending the fixing device (2), the welding equipment is fixedly installed inside the pipe and the welding equipment is aligned with the weld position of the steel pipe. The length of the radial telescopic rod (11) is changed so that the traveling wheel (312) on the welding shell (31) contacts the inner wall of the steel pipe. The traveling wheel (312) is rotated by the servo motor, and the welding gun device (4) welds the weld of the pipe. S2: The welding wire is fed to the welding gun (7) through the wire feeding mechanism (5). At the same time, the servo motor of the driving wheel (312) transmits the speed signal to the main control module during the rotation process. The main control module knows the moving speed of the welding device (3) on the pipeline. The main control module adjusts the wire feeding speed of the wire feeding mechanism (5) in real time according to the moving speed of the welding device (3). S3: Obtain the three-dimensional model of the weld by scanning device (6). During the welding process, compare the position that the welding material can fill with the three-dimensional model scanned during each welding. Use the equal area method to plan the weld bead for a single weld layer. At the position near the bevel, change the speed of the wire feeding mechanism (5) to feed the welding wire so that the weld layer can completely fit the weld. Use the equal height method to compare the height of the welding material piled up with the height of the weld in real time, and then obtain the number of layers to be welded during the welding process. Then obtain the path that the welding gun (7) needs to move during the welding process.

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