Prefabricated pipe joint welding equipment for offshore platform jacket

Abstract

The invention belongs to the field of welding equipment, and particularly discloses offshore platform jacket prefabricated pipe joint welding equipment which comprises a positioner body, a portal frame body and a welding robot, and the welding robot is arranged on the portal frame body and can move in the X-axis direction, the Y-axis direction and the Z-axis direction. The positioner main body is arranged below the welding robot; the positioner body comprises a fixing seat and a mounting frame, the mounting frame is rotationally connected to the fixing seat, a rotating shaft is arranged in the Y-axis direction, the prefabricated pipe is detachably connected to the mounting frame, and the axis direction of the prefabricated pipe is perpendicular to the Y-axis direction; the positioner body further comprises a rotation driving mechanism used for driving the prefabricated pipe to rotate with the axis of the prefabricated pipe as a rotating shaft and a rotation driving piece used for driving the mounting frame to rotate. The prefabricated pipe to be welded is mounted on the positioner main body, and the welding robot is adopted for welding, so that the welding efficiency and the welding quality are improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] This application belongs to the field of welding equipment, and more specifically, relates to a welding equipment for prefabricated pipe nodes of offshore platform jackets. Background Technology

[0002] Jacket platforms are a typical structure used in offshore oil extraction. They are large-scale equipment used in offshore production and extraction, constructed from welded steel pipes and plates. The jacket structure within a jacket platform is a framework formed by intersecting welds of steel pipes, containing numerous pipe joints. Because jacket platforms must withstand extreme environmental loads such as storms and waves during service, it is crucial to ensure the welding quality and strength of these pipe joints.

[0003] Pipe nodes mainly include T, K, Y and their combinations formed by main pipes and branch pipes (such as... Figure 1 As shown, the node shape is an intersection line. Because the intersection line weld is a complex spatial trajectory and the welding production cycle is generally long, it is difficult to guarantee the stability of the weld quality. Therefore, it requires manual welding by experienced welders with professional welding qualifications. Furthermore, during the welding process, the pipe body to be welded generally needs to be preheated at a relatively high temperature, resulting in a harsh working environment, increasing the difficulty of the work for the workers, leading to low welding efficiency and high labor intensity. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this application provides a welding equipment for prefabricated pipe nodes of offshore platform jackets, aiming to solve the problems of complex welds, harsh welding environments, low welding efficiency, and high labor intensity for workers in existing jacket pipe node welding.

[0005] This application provides a welding equipment for prefabricated pipe nodes of offshore platform jacket foundations, specifically including a positioner body, a gantry frame body, and a welding robot. The welding robot is mounted on the gantry frame body and can move along the X, Y, and Z axes. The positioner body is located below the welding robot. The positioner body includes a fixed base and a mounting frame. The mounting frame is rotatably connected to the fixed base with its rotation axis set along the Y-axis. The prefabricated pipe is detachably connected to the mounting frame with its axis perpendicular to the Y-axis. The positioner body also includes a rotary drive mechanism for driving the prefabricated pipe to rotate around its axis and a rotary drive component for driving the mounting frame to rotate.

[0006] Compared with the prior art, the technical solution conceived in this application can install the prefabricated pipe to be welded on the mounting frame. The welding robot can move on the gantry frame body in the X, Y, and Z axis directions. The welding robot can weld the prefabricated pipe nodes on the mounting frame. The mounting frame can drive the prefabricated pipe to rotate, and the prefabricated pipe itself can rotate. This allows for welding of different pipe nodes and from different angles, improving welding efficiency and quality, and reducing the labor intensity of workers.

[0007] As a further preferred embodiment, the gantry frame body includes a fixed frame and a crossbeam. An X-axis transmission component is fixedly connected to the fixed frame, the crossbeam is fixedly connected to the output end of the X-axis transmission component, a Y-axis transmission component is fixedly connected to the crossbeam, a Z-axis transmission component is fixedly connected to the output end of the Y-axis transmission component, and the welding robot is fixedly connected to the output end of the Z-axis transmission component.

[0008] By adopting the above technical solution, the X-axis transmission component drives the crossbeam to move along the X-axis direction, thereby driving the welding robot to move along the X-axis direction. The Y-axis transmission component drives the Z-axis transmission component to move along the Y-axis direction, and at the same time, the Z-axis transmission component drives the welding robot to move along the Z-axis direction. This enables the welding robot to move in the X, Y, and Z-axis directions, and the movement process is stable, thereby improving the welding quality.

[0009] As a further preferred embodiment, two fixing frames are provided, which are arranged symmetrically along the Y-axis. Each fixing frame is fixedly connected to an X-axis transmission component. The crossbeam is arranged along the Y-axis and its two ends are respectively connected to the fixing frames through two X-axis transmission components.

[0010] By adopting the above technical solution, the two fixed frames support both ends of the crossbeam, improving the installation stability of the crossbeam, thereby further improving the stability of the welding robot during movement and welding, and improving the welding effect of the welding robot.

[0011] As a further preferred embodiment, two fixing seats are provided, which are arranged along the Y-axis and have a symmetrical structure. The two fixing seats are located at the middle of both sides of the mounting frame and are rotatably connected to the mounting frame.

[0012] By adopting the above technical solution, the two fixed seats support the two sides of the fixed frame respectively, thereby improving the stability of the fixed frame rotation and making the position of the precast pipe more accurate, so as to facilitate welding by the welding robot.

[0013] As a further preferred embodiment, the mounting frame includes two rotating plates and two clamping plates. The two rotating plates are rotatably connected to two fixed seats and are parallel to each other. The two clamping plates are disposed between the two rotating plates and are perpendicular to each other. The prefabricated tube is disposed between the two clamping plates. The rotation drive is fixedly mounted on the mounting seat. One side of the rotating plate is fixedly connected to the output shaft of the rotation drive. The rotating plate drives the prefabricated tube to rotate so that the welding robot can weld the same tube node from different angles.

[0014] By adopting the above technical solution, the precast pipe to be welded is located between two clamping plates during installation. The rotating drive component drives the rotating plate to rotate, which can drive the two clamping plates and the precast pipe to rotate. After the precast pipe rotates, it is convenient for the welding robot to weld the same pipe node from different angles, obtain a good welding posture, reduce the difficulty of process development, and at the same time make the pipe node welding more comprehensive, avoiding the branch pipe from interfering with the welding robot's welding process.

[0015] As a further preferred embodiment, the clamping plate and the rotating plate are slidably connected, the sliding direction of the clamping plate is perpendicular to the Y-axis direction, and a linear drive component for driving the clamping plate to slide is fixedly connected to the rotating plate. The two clamping plates are close to each other to fix the precast tube.

[0016] By adopting the above technical solution, the linear drive component drives the clamping plate to move, so that the two clamping plates can clamp the precast pipe, making the welding equipment of this application suitable for welding precast pipe joints of different lengths.

[0017] As a further preferred embodiment, each of the two rotating plates is fixedly equipped with a plurality of slide rails, and the end of the clamping plate is connected to the slide rails to achieve sliding.

[0018] By adopting the above technical solution, the stability of the sliding of the clamping plate is improved, thereby enabling the precast pipe to be accurately clamped when the two clamping plates are close to each other.

[0019] As a further preferred embodiment, the rotary drive mechanism includes a drive motor and two turntables. The two turntables are rotatably connected to the two clamping plates and are arranged opposite to each other. The two turntables rotate about an axis and are located on the same axis. The drive motor is fixedly connected to either clamping plate. The turntables are coaxially fixedly connected to the output shaft of the drive motor. When the precast tube is installed, it is located between the two turntables. The turntables drive the precast tube to rotate so that the welding robot can weld different tube nodes.

[0020] By adopting the above technical solution, the precast pipe is installed between two turntables. Starting the drive motor can drive the turntables to rotate, thereby realizing the rotation of the precast pipe. After the precast pipe rotates, it is convenient for the welding robot to weld different pipe nodes, thus completing the welding operation of the entire precast pipe.

[0021] As a further preferred embodiment, at least two positioning members are fixedly connected to the side of the turntable away from the clamping plate. The two positioning members are equidistantly arranged around the center of the turntable, and the prefabricated pipe is sleeved on the outside of the two positioning members during installation.

[0022] By adopting the above technical solution, when the precast pipe is installed, the positioning component on the turntable can position the end of the precast pipe, making its connection with the turntable more stable, so as to facilitate the welding of the precast pipe joint.

[0023] As a further preferred embodiment, the welding robot is fixedly equipped with a laser vision camera.

[0024] By adopting the above technical solutions, welding robots can accurately locate pipe nodes, making welding more precise.

[0025] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages:

[0026] 1. This application involves installing the prefabricated pipe to be welded onto a mounting frame. The welding robot can move along the X, Y, and Z axes on the gantry frame body. The welding robot can weld the pipe nodes of the prefabricated pipe on the mounting frame. The mounting frame can drive the prefabricated pipe to rotate, and the prefabricated pipe itself can also rotate. This allows for welding of different pipe nodes on the same prefabricated pipe and welding of the same pipe node from different angles, thereby improving welding efficiency and welding quality and reducing the labor intensity of workers.

[0027] 2. This application uses a linear drive to drive the clamping plate to move. When the two clamping plates come close to each other, they can clamp the precast pipe, making the welding equipment of this application suitable for welding precast pipe joints of different lengths, thus improving its applicability. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the precast pipe provided in the embodiments of this application;

[0029] Figure 2 This is a schematic diagram of the overall structure provided in the embodiments of this application;

[0030] Figure 3 This is a schematic diagram of the overall structure of the positioner body provided in the embodiments of this application;

[0031] Figure 4This is a schematic diagram of the overall structure of the gantry frame provided in the embodiments of this application.

[0032] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0033] 1. Positioner main body; 11. Fixed base; 12. Mounting frame; 121. Rotating plate; 122. Clamping plate; 123. Linear drive component; 124. Slide rail; 13. Rotary drive mechanism; 131. Drive motor; 132. Turntable; 133. Positioning component; 14. Rotary drive component; 2. Gantry frame main body; 21. Fixed frame; 22. Crossbeam; 23. X-axis transmission component; 24. Y-axis transmission component; 25. Z-axis transmission component; 3. Welding robot. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0035] Reference Figure 2-4 This application discloses a welding device for prefabricated pipe nodes of offshore platform jackets, used for welding... Figure 1 The welding of the prefabricated pipe joint shown includes a positioner body 1, a gantry body 2, and a welding robot 3. The prefabricated pipe to be welded is installed on the positioner body 1. The axial direction of the prefabricated pipe after horizontal installation is the X-axis direction, the direction perpendicular to the axis of the prefabricated pipe to be welded on the horizontal plane is the Y-axis direction, and the vertical direction is the Z-axis direction. The welding robot 3 is installed on the gantry body 2 and can move along the X, Y, and Z-axis directions. The positioner body 1 is set below the welding robot 3 to facilitate the welding robot 3 to perform welding operations on the prefabricated pipe joint. The welding robot 3 can be any welding robot 3 used for welding pipes in this field. In this application, the welding robot 3 includes a robotic arm, and a welding gun is fixedly connected to the lower end of the robotic arm. This technical solution is not an innovation of this application, and its principle will not be elaborated. A laser vision camera is fixedly installed on the welding robot 3 to improve its welding accuracy.

[0036] To facilitate the movement of the welding robot 3, the gantry frame body 2 includes a fixed frame 21 and a crossbeam 22. An X-axis transmission component 23 is fixedly connected to the fixed frame 21. In this embodiment, two fixed frames 21 are provided, located on opposite sides of the positioner body 1. The two fixed frames 21 are arranged symmetrically along the Y-axis. Each fixed frame 21 is fixedly connected to an X-axis transmission component 23. The crossbeam 22 is arranged along the Y-axis, with both ends connected to the fixed frame 21 via two X-axis transmission components 23, making the movement of the crossbeam 22 more stable. Specifically, the X-axis transmission component 23 is an X-axis electric moving stage. Both ends of beam 22 are fixedly connected to the output ends of the X-axis electric moving stage on the two fixed frames 21, so that beam 22 can move along the X-axis direction. Y-axis transmission component 24 is fixedly connected to beam 22. Y-axis transmission component 24 is a Y-axis electric moving stage. Z-axis transmission component 25 is fixedly connected to the output end of Y-axis transmission component 24. Z-axis transmission component 25 is a Z-axis electric moving stage. Welding robot 3 is fixedly connected to the output end of Z-axis transmission component 25. Welding robot 3 can weld on beam 22 along the Y and Z axes. Therefore, after the precast pipe is installed on the positioner body 1, welding robot 3 can weld the precast pipe in all directions.

[0037] In this embodiment, the positioner body 1 includes a fixed base 11 and a mounting frame 12. The mounting frame 12 is rotatably connected to the fixed base 11 and the rotation axis is set along the Y-axis direction. There are two fixed bases 11, which are arranged along the Y-axis direction and have a symmetrical structure. Two fixed frames 21 are respectively straddled on the two fixed bases 11. The two fixed bases 11 are respectively located at the middle of the two sides of the mounting frame 12 and are rotatably connected to the mounting frame 12. The two fixed bases 11 support the two sides of the mounting frame 12 to improve the stability of the mounting frame 12. The prefabricated pipe is detachably connected to the mounting frame 12 and its axis is perpendicular to the Y-axis direction. After the prefabricated pipe is installed on the mounting frame 12, the welding robot 3 can weld the prefabricated pipe.

[0038] The positioner body 1 also includes a rotary drive mechanism 13 for driving the precast pipe to rotate around its axis and a rotary drive component 14 for driving the mounting frame 12 to rotate. The mounting frame 12 can drive the precast pipe to rotate, and the precast pipe itself can also rotate, so that different pipe nodes and the same pipe node can be welded from different angles.

[0039] To facilitate the installation of the precast pipe to be welded, the mounting bracket 12 includes two rotating plates 121 and two clamping plates 122. The two rotating plates 121 are rotatably connected to two fixed seats 11 and are parallel to each other. The two rotating plates 121 are located on the side of the two fixed seats 11 that are close to each other. The two clamping plates 122 are both disposed between the two rotating plates 121 and are perpendicular to each other. After the precast pipe is installed, it is located between the two clamping plates 122. The rotation drive component 14 is fixedly installed on the mounting base. One side is fixedly connected to the output shaft of the rotary drive 14. The rotary drive 14 is a stepper motor. When the rotary drive 14 is started, it drives the rotary plate 121 to rotate, thereby driving the clamping plate 122 and the precast pipe to rotate, so that the precast pipe can rotate to different angles. Since the included angle between the branch pipe and the main pipe of some precast pipes is small, it is not convenient for the welding robot 3 to operate. The rotary plate 121 drives the precast pipe to rotate and adjusts the position of the pipe node, so that the welding robot 3 can weld the same pipe node from different angles, thereby improving welding efficiency and welding effect.

[0040] The clamping plate 122 and the rotating plate 121 are slidably connected. Specifically, several slide rails 124 are fixedly installed on both rotating plates 121. The end of the clamping plate 122 is connected to the slide rail 124 to achieve sliding. The sliding direction of the clamping plate 122 is perpendicular to the Y-axis direction. A linear drive component 123 for driving the clamping plate 122 to slide is fixedly connected on the rotating plate 121. The linear drive component 123 adopts a linear motor. When installing the pre-supported pipe, the prefabricated pipe is suspended between the two clamping plates 122, and the two clamping plates 122 are close to each other to fix the prefabricated pipe.

[0041] To enable the precast tube to rotate around its axis, the rotary drive mechanism 13 includes a drive motor 131 and two turntables 132. The two turntables 132 are rotatably connected to two clamping plates 122 and are arranged opposite each other. Both turntables 132 rotate around their axes and are located on the same axis. The drive motor 131 is fixedly connected to either clamping plate 122, and the turntables 132 are coaxially fixedly connected to the output shaft of the drive motor 131. The two clamping plates 122 are brought close together so that the two turntables 132 clamp the two ends of the precast tube. During installation, the precast tube is positioned between the two turntables 132. When the drive motor 131 rotates and the turntables 132 rotate, it drives the precast tube to rotate, thereby enabling the welding robot 3 to weld the precast tube. Welding of different pipe nodes; To improve the installation stability of the precast pipe, at least two positioning elements 133 are fixedly connected to the side of the turntable 132 away from the clamping plate 122. In this embodiment, four positioning elements 133 are provided. The four positioning elements 133 are equidistantly arranged around the center of the turntable 132. When the precast pipe is installed, the end is sleeved on the outside of the four positioning elements 133 to improve the connection stability between the precast pipe and the turntable 132. The positioning elements 133 also have a self-centering function, that is, the positioning elements 133 can slide towards the center position of the turntable 132. Specifically, the sliding of the positioning elements 133 can be driven by a servo motor or a hydraulic cylinder, so that the four positioning elements 133 move closer or further away from each other at the same time to ensure the installation of the circular workpiece.

[0042] It should be understood that expressions such as "comprising" and "may include" as used in this application indicate the existence of the disclosed functions, operations, or constituent elements, and do not limit one or more additional functions, operations, and constituent elements. In this application, terms such as "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components, or combinations thereof.

[0043] It should be understood that the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0044] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0045] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," 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 connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0046] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A welding equipment for prefabricated pipe nodes of offshore platform jackets, characterized in that, It includes a positioner body (1), a gantry body (2) and a welding robot (3). The welding robot (3) is mounted on the gantry body (2) and can move along the X, Y and Z axes. The positioner body (1) is located below the welding robot (3). The main body (1) of the positioner includes a fixed base (11) and a mounting frame (12). The mounting frame (12) is rotatably connected to the fixed base (11) and the rotation axis is set along the Y-axis direction. The prefabricated pipe is detachably connected to the mounting frame (12) and its axial direction is perpendicular to the Y-axis direction. The positioner body (1) also includes a rotary drive mechanism (13) for driving the precast pipe to rotate around its axis and a rotary drive component (14) for driving the mounting bracket (12) to rotate.

2. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 1, characterized in that, The main body (2) of the gantry frame includes a fixed frame (21) and a crossbeam (22). An X-axis transmission component (23) is fixedly connected to the fixed frame (21). The crossbeam (22) is fixedly connected to the output end of the X-axis transmission component (23). A Y-axis transmission component (24) is fixedly connected to the crossbeam (22). A Z-axis transmission component (25) is fixedly connected to the output end of the Y-axis transmission component (24). The welding robot (3) is fixedly connected to the output end of the Z-axis transmission component (25).

3. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 2, characterized in that, There are two fixed frames (21), which are arranged along the Y-axis and are symmetrical. Each of the two fixed frames (21) is fixedly connected with an X-axis transmission component (23). The crossbeam (22) is arranged along the Y-axis and its two ends are connected to the fixed frames (21) through the two X-axis transmission components (23).

4. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 1, characterized in that, There are two fixing seats (11). The two fixing seats (11) are arranged along the Y-axis and are symmetrical. The two fixing seats (11) are located at the middle of both sides of the mounting frame (12) and are rotatably connected to the mounting frame (12).

5. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 4, characterized in that, The mounting frame (12) includes two rotating plates (121) and two clamping plates (122). The two rotating plates (121) are rotatably connected to two fixed seats (11) and are parallel to each other. The two clamping plates (122) are both arranged between the two rotating plates (121) and are perpendicular to each other. The prefabricated tube is arranged between the two clamping plates (122). The rotation drive (14) is fixedly installed on the mounting seat. One side of the rotating plate (121) is fixedly connected to the output shaft of the rotation drive (14). The rotating plate (121) drives the prefabricated tube to rotate so that the welding robot (3) can weld the same tube node from different angles.

6. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 5, characterized in that, The clamping plate (122) and the rotating plate (121) are slidably connected. The sliding direction of the clamping plate (122) is perpendicular to the Y-axis direction. A linear drive (123) for driving the clamping plate (122) to slide is fixedly connected on the rotating plate (121). The two clamping plates (122) are close to each other to fix the precast tube.

7. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 6, characterized in that, Several slide rails (124) are fixedly installed on both of the rotating plates (121), and the end of the clamping plate (122) is connected to the slide rails (124) to achieve sliding.

8. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 5, characterized in that, The rotary drive mechanism (13) includes a drive motor (131) and two turntables (132). The two turntables (132) are rotatably connected to the two clamping plates (122) and are arranged opposite to each other. The two turntables (132) are both rotating around the axis and are located on the same axis. The drive motor (131) is fixedly connected to any one of the clamping plates (122). The turntables (132) are coaxially fixedly connected to the output shaft of the drive motor (131). When the precast tube is installed, it is located between the two turntables (132). The turntables (132) drive the precast tube to rotate so that the welding robot (3) can weld different tube nodes.

9. The welding equipment for prefabricated pipe nodes of offshore platform jacket as described in claim 8, characterized in that, At least two positioning elements (133) are fixedly connected to the side of the turntable (132) away from the clamping plate (122). The two positioning elements (133) are arranged at equal intervals around the center of the turntable (132). When the prefabricated pipe is installed, it is sleeved on the outside of the two positioning elements (133).

10. A welding equipment for prefabricated pipe nodes of offshore platform jacket as described in any one of claims 1-9, characterized in that, A laser vision camera is fixedly installed on the welding robot (3).

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