Steel pipe welding equipment, steel pipe welding system and vertical shaft construction device

Abstract

The embodiment of the invention provides steel pipe welding equipment, a steel pipe welding system and a vertical shaft construction device. The steel pipe welding equipment comprises a supporting piece, a telescopic piece, an auxiliary supporting assembly, a welding assembly and a first control piece. The telescopic piece is arranged on the periphery of the supporting piece; the telescopic piece moves in the radial direction of the steel pipe; the auxiliary supporting assembly is arranged on the supporting face of the supporting piece. The auxiliary supporting assembly comprises an auxiliary supporting piece and an overturning piece. The overturning piece is arranged on the periphery of the auxiliary supporting piece; the auxiliary supporting piece is provided with an auxiliary supporting surface; the auxiliary supporting face extends in the radial direction of the steel pipe. The welding assembly is arranged on the auxiliary supporting surface; according to the steel pipe welding equipment, the welding efficiency of the steel pipe is improved, and the welding quality of the steel pipe is improved.

Description

Technical Field

[0001] This application relates to the field of water conservancy and hydropower technology, and in particular to a steel pipe welding equipment, a steel pipe welding system, and a shaft construction device. Background Technology

[0002] In water conservancy and hydropower projects, the installation and welding of ultra-deep vertical shaft steel pipes is a key construction step.

[0003] Vertical shafts are typically hundreds of meters deep, with large-diameter steel pipes that need to be assembled on-site in sections. In related technologies, during shaft installation and welding, steel pipe sections are transported to the shaft opening, lowered into the shaft section by section using hoisting equipment, and then spot-welded in place after manual calibration. Subsequently, welding workers manually weld the inner and outer circumferential seams of the steel pipe sections.

[0004] However, existing steel pipe installation and welding methods suffer from low efficiency. Summary of the Invention

[0005] This application provides a steel pipe welding equipment, a steel pipe welding system, and a shaft construction device, which improves the welding efficiency and welding quality of steel pipes.

[0006] In a first aspect, embodiments of this application provide a steel pipe welding device for welding the inner circumferential seam at the joint of two adjacent steel pipe sections. The steel pipe welding device includes:

[0007] The support has a support surface that extends radially along the steel pipe;

[0008] The expansion joint is located on the outer periphery of the support member; the expansion joint is used to move radially along the steel pipe.

[0009] An auxiliary support assembly is disposed on a support surface; the auxiliary support assembly includes an auxiliary support member and a flipping member; the flipping member is disposed on the outer periphery of the auxiliary support member; the auxiliary support member has an auxiliary support surface; the auxiliary support surface extends radially along the steel pipe;

[0010] Welding components are mounted on the auxiliary support surface;

[0011] The first control component is electrically connected to the telescopic component, the auxiliary support assembly, and the welding assembly.

[0012] In one possible implementation, the telescopic component includes a telescopic frame.

[0013] The steel pipe welding equipment also includes a first hydraulic cylinder and a guide component; the first hydraulic cylinder is mounted on the support component, and the output end of the first hydraulic cylinder is connected to the telescopic frame.

[0014] The guide is located on the support and is used to guide the output end of the first hydraulic cylinder to move radially along the steel pipe.

[0015] In one possible implementation, the flipper includes:

[0016] A flap is located on the outer periphery of the auxiliary support; the flap is rotatably connected to the auxiliary support via a hinge.

[0017] A rotary cylinder is installed on an auxiliary support; the output end of the rotary cylinder is connected to the flap plate.

[0018] In one possible implementation, the welding assembly includes:

[0019] A welding base is mounted on an auxiliary support component; a track is provided on the welding base.

[0020] A welding turntable is mounted on a welding base; the welding turntable is used to move on a track.

[0021] A robotic arm is mounted on the welding turntable;

[0022] Welding torch, mounted on a robotic arm;

[0023] A first connecting shaft is connected to a welding turntable; the first connecting shaft extends radially along the steel pipe; the robotic arm is slidably connected to the first connecting shaft;

[0024] The second connecting shaft is connected to the welding turntable; part of the second connecting shaft is located in the track.

[0025] In one possible implementation, the steel pipe welding equipment further includes:

[0026] A ring-shaped lifting frame is located on the side of the support component that faces away from the auxiliary support assembly; the ring-shaped lifting frame is connected to the support component;

[0027] A winch is installed between the support member and the auxiliary support member; the ring lifting frame is connected to the winch through a connector; there are at least two winches, which are spaced apart along the circumference of the steel pipe.

[0028] The mounting base has a mounting cavity; at least a portion of the mounting cavity is located within the annular cavity of the annular lifting frame.

[0029] Support boots are installed on the outer periphery of the mounting base; the support boots are used to abut against the inner wall of the steel pipe.

[0030] The air compressor is located in the mounting cavity;

[0031] The gas cylinder is located in the mounting cavity; the gas cylinder is used to supply protective gas to the welding torch.

[0032] Power supply, used to provide electrical energy to air compressors, welding torches, and robotic arms.

[0033] In one possible implementation, the steel pipe welding equipment further includes at least two guide components; the guide components are disposed on the support; the at least two guide components are spaced apart along the circumference of the steel pipe.

[0034] In one possible implementation, the steel pipe welding equipment further includes at least two guide components; the guide components are disposed on the support shoe; the at least two guide components are spaced apart along the circumference of the steel pipe.

[0035] In one possible implementation, when the welding equipment includes a guide assembly, the guide assembly includes:

[0036] Second hydraulic cylinder;

[0037] A buffer element is located at the output end of the second hydraulic cylinder;

[0038] The guide wheel is located on the side of the buffer component away from the output shaft of the second hydraulic cylinder; the guide wheel is used to abut against the inner wall of the steel pipe.

[0039] The displacement sensor is located on the side of the guide wheel away from the buffer.

[0040] In one possible implementation, the number of robotic arms is at least two, and the two robotic arms are spaced apart along the circumference of the steel pipe.

[0041] The welding assembly also includes a laser scanner and a molten pool camera; the laser scanner and molten pool camera are mounted on the welding torch.

[0042] Secondly, embodiments of this application provide a steel pipe welding system, comprising:

[0043] The aforementioned steel pipe welding equipment is used to weld the inner circumferential seam at the joint of two adjacent steel pipe sections;

[0044] Steel pipe outer circumferential seam welding equipment, used to weld the outer circumferential seam at the joint of two adjacent steel pipe sections;

[0045] The second control component is electrically connected to both the first control component of the steel pipe welding equipment and the outer circumferential weld of the steel pipe.

[0046] Thirdly, embodiments of this application provide a shaft construction equipment, including:

[0047] Vertical transport operation platform system;

[0048] The aforementioned steel pipe welding system is mounted on a vertical transport operation platform system.

[0049] This application provides a steel pipe welding equipment, a steel pipe welding system, and a shaft construction device. The steel pipe welding equipment includes a support member, a telescopic member, an auxiliary support assembly, a welding assembly, and a first control member. The support member has a support surface extending radially along the steel pipe; the telescopic member is disposed on the outer periphery of the support member and is used to move radially along the steel pipe; the auxiliary support assembly is disposed on the support surface; the auxiliary support assembly includes an auxiliary support member and a tilting member; the tilting member is disposed on the outer periphery of the auxiliary support member; the auxiliary support member has an auxiliary support surface extending radially along the steel pipe; the welding assembly is disposed on the auxiliary support surface; the first control member is electrically connected to the telescopic member, the auxiliary support assembly, and the welding assembly.

[0050] The steel pipe welding equipment provided in this application embodiment, by incorporating a telescopic component, can adapt to steel pipes of different diameters, reducing the need for disassembly, replacement, or reclamping of mechanical tooling, thereby improving welding efficiency and versatility. By incorporating a tilting component, friction between the welding equipment and the inner wall of the steel pipe can be avoided during its vertical movement. Replacing the tilting component allows the equipment to accommodate steel pipes of various sizes. Furthermore, the inclusion of welding components enables high-quality welding operations. The steel pipe welding equipment provided in this application embodiment reduces reliance on manual labor, achieves continuous and efficient operation, and improves welding efficiency.

[0051] The steel pipe welding equipment provided in this application replaces the welder in entering the pipeline, stabilizes the welding speed, and improves welding efficiency. At the same time, as an integrated unit, the steel pipe welding equipment can complete the welding of the entire circumferential seam inside the steel pipe, reducing waiting time and repetitive positioning between processes and improving welding efficiency. Attached Figure Description

[0052] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0053] Figure 1 A schematic diagram of the steel pipe welding equipment provided in the embodiments of this application in a vertical shaft steel pipe;

[0054] Figure 2 This is a schematic diagram of the structure of the steel pipe welding equipment provided in the embodiments of this application;

[0055] Figure 3 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 1 ;

[0056] Figure 4 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 2 ;

[0057] Figure 5 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 3 ;

[0058] Figure 6 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 4 ;

[0059] Figure 7 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 5 ;

[0060] Figure 8 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 6 ;

[0061] Figure 9 A schematic diagram of the auxiliary support assembly of the steel pipe welding equipment provided in the embodiments of this application. Figure 1 ;

[0062] Figure 10 A schematic diagram of the auxiliary support assembly of the steel pipe welding equipment provided in the embodiments of this application. Figure 2 ;

[0063] Figure 11 A schematic diagram of the auxiliary support assembly of the steel pipe welding equipment provided in the embodiments of this application. Figure 3 ;

[0064] Figure 12 A schematic diagram of the auxiliary support assembly of the steel pipe welding equipment provided in the embodiments of this application. Figure 4 ;

[0065] Figure 13 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 7 ;

[0066] Figure 14 This is a schematic diagram of the structure of the welding assembly of the steel pipe welding equipment provided in the embodiments of this application;

[0067] Figure 15 A schematic diagram of the lifting base of the steel pipe welding equipment provided in the embodiments of this application. Figure 1 ;

[0068] Figure 16 A schematic diagram of the lifting base of the steel pipe welding equipment provided in the embodiments of this application. Figure 2 ;

[0069] Figure 17 A schematic diagram of the lifting base of the steel pipe welding equipment provided in the embodiments of this application. Figure 3 ;

[0070] Figure 18 This is a schematic diagram of the lifting base and winch of the steel pipe welding equipment provided in the embodiments of this application;

[0071] Figure 19 A schematic diagram of the structure of the winch of the steel pipe welding equipment provided in the embodiments of this application;

[0072] Figure 20 A schematic diagram of the structure of the winch of the steel pipe welding equipment provided in the embodiments of this application;

[0073] Figure 21 A partial structural diagram of the steel pipe welding equipment provided in the embodiments of this application. Figure 8 ;

[0074] Figure 22 Schematic diagram of the structure of the mounting base, support shoe, guide assembly, etc. of the steel pipe welding equipment provided in the embodiments of this application. Figure 1 ;

[0075] Figure 23 Schematic diagram of the structure of the mounting base, support shoe, guide assembly, etc. of the steel pipe welding equipment provided in the embodiments of this application. Figure 2 ;

[0076] Figure 24 Schematic diagram of the structure of the mounting base, support shoe, guide assembly, etc. of the steel pipe welding equipment provided in the embodiments of this application. Figure 3 ;

[0077] Figure 25 Schematic diagram of the structure of the mounting base, support shoe, guide assembly, etc. of the steel pipe welding equipment provided in the embodiments of this application. Figure 4 ;

[0078] Figure 26 Schematic diagram of the structure of the mounting base, support shoe, guide assembly, etc. of the steel pipe welding equipment provided in the embodiments of this application. Figure 5 ;

[0079] Figure 27 Schematic diagram of the structure of the mounting base, support shoe, guide assembly, etc. of the steel pipe welding equipment provided in the embodiments of this application. Figure 6 ;

[0080] Figure 28 A schematic diagram of the structure of the support shoe, guide assembly, etc. of the steel pipe welding equipment provided in the embodiments of this application;

[0081] Figure 29 A schematic diagram of the structure of the guide assembly, etc., of the steel pipe welding equipment provided in the embodiments of this application.

[0082] Figure label:

[0083] 10. Steel pipe welding equipment; 20. Crane; 100. Support component; 110. Equipment through hole; 120. Lifting seat; 130. Connecting seat; 200. Telescopic component; 210. First hydraulic cylinder; 220. Guide component; 300. Auxiliary support component; 310. Lifting seat through hole; 400. Tilting component; 410. Tilting plate; 420. Rotary cylinder; 430. Rotary hinge; 500. Welding assembly; 510. Welding 520. Base; 530. Welding turntable; 540. Robotic arm; 550. Welding torch; 560. First connecting shaft; 570. Second connecting shaft; 600. Circular track; 610. Circular lifting frame; 620. Winch; 700. Safety railing; 710. Mounting base; 720. Support shoe; 721. Mounting cavity; 800. Guide assembly; 810. Second hydraulic cylinder; 821. Buffer; 830. Guide wheel.

[0084] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0085] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0086] In related technologies, after the excavation and support of hydraulic and hydropower shafts are completed, steel pipes need to be installed, and concrete backfilling is carried out in sections. Currently, steel pipes are generally fabricated in sections in the workshop and then transported to the shaft construction site for installation. The length of the steel pipe sections can be customized according to the installation requirements of the construction site. During the installation of the steel pipes in the shaft, the pipes are usually placed into the shaft using a hoisting device at the shaft opening. After manual leveling, alignment, and spot welding reinforcement, multiple welders use ordinary electric welding machines to weld the inner and outer circumferential seams.

[0087] However, when steel pipes are welded manually, multiple people need to work together underground for extended periods. In addition, frequent changes of welding rods and cleaning of slag are required during welding, which significantly reduces welding efficiency. Furthermore, the welding quality is highly dependent on the welder's skills, and the safety risks of manual construction operations are relatively high.

[0088] When the diameter of the steel pipe is very large (e.g., exceeding 6m), using this construction method for steel pipe installation and manufacturing will significantly increase the transportation cost and auxiliary engineering workload. Furthermore, as the pipe diameter increases, the on-site welding workload increases substantially, the welding process becomes more difficult, and welding efficiency is severely reduced. In related technologies, developers have developed automated equipment for welding weld seams. Automated equipment for circumferential welding of vertical shaft steel pipes often uses fixed tracks or external support structures. For example, some solutions use reinforced ring plates as tracks, utilizing a traveling mechanism to move circumferentially along the track to weld the outer weld seam. However, welding the inner weld seam requires additional dedicated tracks, making construction complex and lacking adaptability. Other solutions use telescopic supports and ring racks, with sliding components driving the welding torch to move circumferentially along the rack. However, the moving components require manual adjustment, resulting in low automation and an inability to adapt to the welding needs of steel pipes of different diameters. In addition, existing equipment generally lacks autonomous movement capabilities and relies on hoisting equipment for frequent position adjustments.

[0089] In summary, the automated welding equipment in related technologies cannot be adapted to various pipe diameters, requires frequent changes of tooling fixtures, recalibration of parameters, and long preparation and debugging times, which offsets the speed advantage of automated welding and also suffers from low welding efficiency.

[0090] Based on the above scenarios, it can be seen that in related technologies, steel pipe welding equipment suffers from low efficiency in steel pipe installation and welding.

[0091] In view of this, embodiments of this application provide a steel pipe welding equipment, a steel pipe welding system, and a shaft construction device. The steel pipe welding equipment includes a support member, a telescopic member, an auxiliary support assembly, a welding assembly, and a first control member. The support member has a support surface that extends radially along the steel pipe; the telescopic member is disposed on the outer periphery of the support member; the telescopic member is used to move radially along the steel pipe; the auxiliary support assembly is disposed on the support surface; the auxiliary support assembly includes an auxiliary support member and a tilting member; the tilting member is disposed on the outer periphery of the auxiliary support member; the auxiliary support member has an auxiliary support surface that extends radially along the steel pipe; the welding assembly is disposed on the auxiliary support surface; the first control member is electrically connected to the telescopic member, the auxiliary support assembly, and the welding assembly.

[0092] The steel pipe welding equipment provided in this application embodiment, by incorporating a telescopic component, can adapt to steel pipes of different diameters, reducing the need for disassembly, replacement, or reclamping of mechanical tooling, thereby improving welding efficiency and versatility. By incorporating a tilting component, friction between the welding equipment and the inner wall of the steel pipe can be avoided during its vertical movement. Replacing the tilting component allows the equipment to accommodate steel pipes of various sizes. Furthermore, the inclusion of welding components enables high-quality welding operations. The steel pipe welding equipment provided in this application embodiment reduces reliance on manual labor, achieves continuous and efficient operation, and improves welding efficiency.

[0093] The steel pipe welding equipment provided in this application replaces the welder in entering the pipeline, stabilizes the welding speed, and improves welding efficiency. At the same time, as an integrated unit, the steel pipe welding equipment can complete the welding of the entire circumferential seam inside the steel pipe, reducing waiting time and repetitive positioning between processes and improving welding efficiency.

[0094] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0095] Firstly, referring to Figure 1 , Figure 2 and Figure 3 As shown, this application embodiment provides a steel pipe welding device 10 for welding the inner circumferential seam at the joint of two adjacent steel pipe sections. The steel pipe welding device 10 includes:

[0096] Support member 100 has a support surface that extends radially along the steel pipe;

[0097] The telescopic member 200 is disposed on the outer periphery of the support member 100; the telescopic member 200 is used to move radially along the steel pipe;

[0098] An auxiliary support assembly is disposed on a support surface; the auxiliary support assembly includes an auxiliary support member 300 and a flipping member 400; the flipping member 400 is disposed on the outer periphery of the auxiliary support member 300; the auxiliary support member 300 has an auxiliary support surface; the auxiliary support surface extends radially along the steel pipe.

[0099] Welding assembly 500 is mounted on the auxiliary support surface;

[0100] The first control component is electrically connected to the telescopic component 200, the auxiliary support component, and the welding component 500.

[0101] For example, the support member 100 is the core skeleton and main load-bearing body of the entire steel pipe welding equipment 10. The support surface of the support member 100, extending radially along the steel pipe, provides an installation foundation for all subsequent moving and actuator mechanisms, ensuring the structural rigidity and stability of the steel pipe welding equipment 10 within the steel pipe pipeline. The support member 100 can be a support frame. By setting up a support frame, not only can the support function of the support member 100 be achieved, but weight reduction can also be achieved, lowering the overall weight of the steel pipe welding equipment 10 and realizing lightweight design.

[0102] The support member 100 is provided with an equipment through hole 110 for equipment to pass through. The support member 100 is provided with a lifting seat 120 and a connecting seat 130.

[0103] The telescopic component 200 can adapt to different steel pipe diameters. By contracting and opening the telescopic component 200, the steel pipe welding equipment 10 can adapt to steel pipes of different diameters without changing any mechanical tooling.

[0104] The auxiliary support 300 serves as the direct mounting platform for the welding assembly 500, supporting and securing it. It provides a foundation for the welding assembly 500, ensuring its stability during use. The auxiliary support surface also functions as a welding operator's platform during welding. The auxiliary support 300 includes a welding connection seat for the welding assembly 500, facilitating its installation. A lifting seat through-hole 310 allows the steel pipe welding equipment 10 to be lifted.

[0105] The auxiliary support component 300 has an opening at its center for access to equipment such as gas cylinders and personnel. The auxiliary support component 300 is an auxiliary support plate. A sealing door is installed at the opening.

[0106] The tilting component 400 can be tilted and is suitable for use with stops and lifting lugs welded to the inner wall of the steel pipe when the steel pipe welding equipment 10 is raised and lowered inside the steel pipe. Furthermore, by replacing the tilting component 400, the steel pipe welding equipment 10 can accommodate steel pipes of various sizes when the pipe diameter changes. The auxiliary support component 300 and the tilting component 400 are also used for the operator to stand during welding.

[0107] Welding assembly 500 is the terminal actuator that performs the welding process and is responsible for completing the welding operation.

[0108] The first control unit coordinates and controls the radial movement of the telescopic component 200, the flipping of the tilting component 400, and the start / stop and parameters of the welding assembly 500, achieving fully automated linkage between radial positioning and circumferential welding. The first control unit includes a control console and a remote control center. The control console is used for operation and observation. The remote control center is used for data processing, operation, and observation.

[0109] The steel pipe welding equipment 10 provided in this application embodiment has the following advantages:

[0110] 1) Reduce reliance on manual labor and achieve continuous and efficient operation: The steel pipe welding equipment replaces operators entering the steel pipe pipeline and can work 24 hours a day without interruption. It eliminates fatigue, reduces time spent changing welding rods / cleaning slag, significantly increases the proportion of pure welding time, stabilizes welding speed, and improves welding efficiency and quality.

[0111] 2) Achieve rapid pipe diameter self-adaptation, greatly reducing preparation time: Through the extension and retraction of the telescopic component 200, the steel pipe welding equipment 10 can automatically adjust to the working position of the target steel pipe diameter in a short time. This reduces the need for disassembly, replacement, or reclamping of mechanical tooling, improving welding efficiency.

[0112] 3) Achieve integrated continuous welding downhole and optimize the operation process: The steel pipe welding equipment 10 is an integrated unit that can complete the welding of the entire circumferential seam inside the steel pipe, reducing waiting time and repetitive positioning between processes and improving welding efficiency.

[0113] The steel pipe welding equipment 10 provided in this application embodiment realizes automated welding operations for steel pipes and circumferential seam welding after steel pipe assembly during on-site construction of vertical shaft steel pipes. It has a high degree of automation, improving the on-site construction efficiency of large steel pipes and reducing on-site labor intensity. Simultaneously, this steel pipe welding equipment 10 can also weld ultra-long vertical shaft steel pipes, achieving automated welding and improving the quality of steel pipe assembly.

[0114] The steel pipe welding equipment 10 has a total height of 5 meters, a weight of 18 tons, and is compatible with steel pipes with diameters of 5.6-6.5 meters. The lifting base has a travel range of 9 meters, and the lifting base and auxiliary support 300 can support 6 people. The maximum non-detachable workpiece width is 4.95 meters.

[0115] The steel pipe is equipped with lifting lugs and support plates. The lifting lugs and support plates are pre-welded to the steel pipe workpiece and removed after welding. There are four lifting lugs, evenly distributed along the circumference of the steel pipe. There are eight support plates, also evenly distributed along the circumference of the steel pipe. The support plates and lifting lugs are offset by 22.5°. The guide wheel 830 is installed at a 45° offset from the lifting lugs, and the guide wheel 830 is not on the same vertical line as the support plates and lifting lugs.

[0116] As one feasible implementation method, refer to Figures 2 to 8 As shown, the telescopic component 200 includes a telescopic frame.

[0117] The steel pipe welding equipment 10 also includes a first hydraulic cylinder 210 and a guide member 220; the first hydraulic cylinder 210 is disposed on the support member 100, and the output end of the first hydraulic cylinder 210 is connected to the telescopic frame.

[0118] The guide member 220 is disposed on the support member 100, and the guide member 220 is used to guide the output end of the first hydraulic cylinder 210 to move radially along the steel pipe.

[0119] For example, the first hydraulic cylinder 210 provides a powerful, smooth, and controllable linear thrust or pull force to the telescopic frame. This hydraulic transmission features high output force, smooth movement, and strong overload resistance.

[0120] The guide member 220 is a mechanism that ensures the accuracy and stability of the motion. The guide member 220 constrains the motion trajectory of the output end of the first hydraulic cylinder 210 and the telescopic frame, ensuring that it moves radially along the steel pipe and preventing swaying, jamming or displacement outside the radial direction.

[0121] The telescopic frame converts the linear thrust generated by the first hydraulic cylinder 210 into stable and reliable radial telescopic motion. There are four telescopic frames. The four telescopic components 200 are distributed circumferentially around the outer periphery of the support component 100 along the steel pipe. The stroke of the telescopic frame is 0.5 meters. The stroke of the first telescopic cylinder is 0.6 meters.

[0122] Furthermore, the first hydraulic cylinder 210 is connected to a displacement sensor, which is used to detect the real-time position of the telescopic frame.

[0123] In some embodiments, the guide member 220 includes at least one set of linear guide rail pairs, each including a linear guide rail fixed to the support member 100 and a slider fixedly connected to the output end of the first hydraulic cylinder 210 and slidable along the linear guide rail.

[0124] In other embodiments, the guide member 220 includes at least two parallel guide posts, which are fixed to the support member 100 and extend radially along the steel pipe; a guide sleeve that cooperates with the guide post is fixed on the telescopic frame, and the guide sleeve is slidably sleeved on the guide post.

[0125] The support member 100 is provided with a mounting seat for the guide member 220, a mounting seat for the auxiliary support component, and a lifting lug for the overall lifting of the steel pipe welding equipment 10.

[0126] In some embodiments, the outer periphery of the support member 100 is provided with four sets of telescopic frames.

[0127] As one feasible implementation method, refer to Figure 2 , Figures 9 to 13 As shown, the flipper 400 includes:

[0128] Flip plate 410 is disposed on the outer periphery of auxiliary support member 300; flip plate 410 is rotatably connected to auxiliary support member 300 via hinge 430;

[0129] A rotary cylinder 420 is installed on the auxiliary support 300; the output end of the rotary cylinder 420 is connected to the flap 410.

[0130] For example, when the steel pipe welding equipment 10 enters or leaves the steel pipe, the flap 410 flips up to accommodate the stops and lifting lugs welded to the inner wall of the steel pipe when the steel pipe welding equipment 10 is raised or lowered.

[0131] The rotary cylinder 420 provides the drive element for rotational power. The rotary cylinder 420 converts hydraulic energy into controllable rotational torque and angular displacement within a limited angular range. The rotary cylinder 420 directly determines the start, stop, speed, angle, and torque of the tilting motion.

[0132] In some embodiments, the number of flaps 410 is 8, and the flaps 410 can be rotated 90° under the action of the rotary cylinder 420.

[0133] As one feasible implementation method, refer to Figure 2 , Figure 14 As shown, the welding assembly 500 includes:

[0134] A welding base 510 is mounted on the auxiliary support 300; a track is provided on the welding base 510.

[0135] A welding turntable 520 is mounted on a welding base 510; the welding turntable 520 is used to move on a track.

[0136] Robotic arm 530 is mounted on welding turntable 520;

[0137] Welding torch 540, mounted on robotic arm 530;

[0138] A first connecting shaft 550 is connected to a welding turntable 520; the first connecting shaft 550 extends radially along the steel pipe; the robotic arm 530 is slidably connected to the first connecting shaft 550;

[0139] The second connecting shaft 560 is connected to the welding turntable 520; a portion of the second connecting shaft 560 is located in the track.

[0140] For example, the welding base 510 and the track disposed on the welding base 510 provide the entire welding turntable 520 with the ability to move along the axial direction of the steel pipe, so as to realize the walking movement of the welding torch 540 along the circumferential seam. The track can be a circular track 570.

[0141] The welding turntable 520 is the foundation for mounting the robotic arm 530, connecting shafts, and other fine adjustment mechanisms.

[0142] The robotic arm 530 is a multi-degree-of-freedom precision adjuster for the welding torch 540's posture. The robotic arm 530 is a six-axis robotic arm designed for automated circumferential welding. The six-axis robotic arm 530 achieves complex trajectory welding through six degrees of freedom (rotation, pitch, yaw, etc.). The six-axis robotic arm 530 is typically equipped with a flux delivery system and a molten pool monitoring system, controlling the welding path and parameters through programming.

[0143] The robotic arm 530 has functions such as bevel positioning, arc tracking, and multi-layer multi-pass offset, which eliminates the need for manual intervention in the entire welding process and achieves a high degree of automation.

[0144] The robotic arm 530 is capable of circumferential welding of steel pipes with a diameter of 4.8-6.5 meters. The robotic arm 530 is a long-reach robotic arm with a reach of 1.2-1.5 meters. Specifically, the reach can be 1.4 meters.

[0145] As one feasible implementation method, refer to Figure 2 As shown, there are at least two robotic arms 530, which are spaced apart along the circumference of the steel pipe.

[0146] The welding assembly 500 also includes a laser scanner and a molten pool camera; the laser scanner and molten pool camera are mounted on the welding torch 540.

[0147] For example, two (or more) robotic arms 530 carrying welding guns 540 simultaneously and symmetrically weld on the same circumferential seam, shortening welding time and improving welding efficiency.

[0148] In some embodiments, the number of robotic arms 530 is 4. When welding circumferential seams, each robotic arm 530 is only responsible for welding one-quarter of the circumferential seam. Therefore, as the welding progresses, the welding position changes little and the process parameters are relatively fixed, thereby reducing the difficulty of the circumferential seam welding process and improving the welding quality.

[0149] The laser scanner is located in front of the welding torch 540, with its beam directed towards the weld seam. The laser scanner emits a line or structured light laser beam onto the workpiece surface, and a built-in camera captures the deformation of the laser line. The laser scanner enables automatic weld seam recognition and is equipped with a programmable interface, allowing for fully automated welding.

[0150] The molten pool camera is positioned close to the back of the welding torch 540, allowing for observation of the molten pool and the solidified weld seam behind it at a specific angle. The molten pool camera uses filtering technology to eliminate intense arc light, clearly capturing images of the molten metal.

[0151] Welding torch 540 is a process actuator. Welding torch 540 is used to apply the electric arc accurately and stably to the weld.

[0152] The first connecting shaft 550 and the robotic arm 530 form a sliding pair, allowing the robotic arm 530 to move linearly along the radial direction of the steel pipe. Under the linkage of the first connecting shaft 550, the robotic arm 530 moves radially in the steel pipe.

[0153] The second connecting shaft 560 increases the stability, torsional resistance, and anti-tipping capability of the welding turntable 520 when it moves on the track. With the linkage of the second connecting shaft 560, the robotic arm 530 can move along the circular track 570. A portion of the second connecting shaft 560 is connected to the welding turntable 520. The other portion of the second connecting shaft 560 is located within the track.

[0154] Furthermore, the welding assembly 500 also includes a wire feeder and a wire spool. The wire feeder continuously and smoothly pushes the welding wire from the wire spool to the contact tip of the welding torch 540.

[0155] The welding assembly 500 also includes a torch cleaner. During welding breaks or periodically, the torch cleaner automatically removes slag splashed from the contact tip and gas nozzle of the welding torch 540.

[0156] The welding assembly 500 weighs 1.5 tons. The maximum transport dimension of the welding assembly 500 is 4.15 meters. The suitable welding height for the welding assembly 500 is 0.8 meters above the mounting surface of the welding base 510. The inner diameter of the circular track 570 is 2.4 meters, and the outer diameter is 3.2 meters.

[0157] The robotic arm 530 can adapt to automatic welding under assembly gap conditions of 0-5mm and misalignment of 3mm. The robotic arm 530 has provisions for auxiliary process equipment such as grinding and preheating. The robotic arm 530 has anti-collision functions, personnel position detection, and protection functions.

[0158] Ventilation, dust removal, and wind speed control equipment are provided by the tunnel itself.

[0159] The support component 100 is provided with an opening that is 1.5 meters long and 1.5 meters wide, for the passage of gas cylinders, maintenance parts, and operators.

[0160] As one feasible implementation method, refer to Figure 2 , Figure 13 , Figures 15 to 18 , Figures 19 to 20 As shown, the steel pipe welding equipment 10 also includes:

[0161] A ring-shaped lifting frame 600 is disposed on the side of the support member 100 away from the auxiliary support assembly; the ring-shaped lifting frame 600 and the support member 100 are connected.

[0162] A winch 610 is provided between the support member 100 and the auxiliary support member 300; the annular lifting frame 600 is connected to the winch 610 via a connector; the number of winches 610 is at least two, and at least two winches 610 are spaced apart along the circumference of the steel pipe.

[0163] For example, winches 610 are mounted on the upper end of support member 100, and annular lifting frame 600 is mounted on the lower end of support member 100. The annular lifting frame 600 is connected to eight sets of winches 610 via wire ropes.

[0164] The ring-shaped lifting frame 600 can be raised and lowered inside the shaft during the fixing of the support 100 and welding operations, which facilitates the inspection, repair and touch-up of the previous weld during the welding operation.

[0165] The winch 610 provides the main traction force for the lifting and lowering of the steel pipe welding equipment 10 through the winding and unwinding connector. Multiple winches 610 work synchronously to ensure smooth lifting.

[0166] The ring-shaped lifting frame 600 has a safety guardrail 620 to ensure the safety of the operator's work area.

[0167] The winch 610 operates by using a power-driven drum to rotate and wind a wire rope, thus converting rotational motion into linear traction force to lift and lower heavy objects. The winch 610 includes a power drive system, a transmission and reduction system, connecting components, a winding and load-bearing system, a braking and safety system, a control system, and a frame. The power drive system includes an electric motor. The transmission and reduction system includes a gear reducer. The connecting components include a coupling. The winding and load-bearing system includes a drum and a wire rope. The braking and safety system includes a brake and limit switches. The control system includes a control box.

[0168] In some embodiments, multiple steel pipes are stacked sequentially along a direction perpendicular to the horizontal plane, and the steel pipe welding equipment 10 sequentially welds the inner circumferential seams of adjacent steel pipes. For example, there are 3 steel pipes, with the bottommost being the first steel pipe, the topmost being the third steel pipe, and the second steel pipe being the steel pipe between the first and third steel pipes.

[0169] After the inner circumferential seams of the first and second steel pipe sections are welded, the steel pipe welding equipment 10 moves to the joint between the second and third steel pipe sections, and the welding assembly 500 performs the welding operation to weld the second and third steel pipe sections together. At this time, the winch 610 can reel in and release the connecting component, such as a steel wire rope. Thus, when the winch 610 releases the steel wire rope, the annular lifting frame 600 moves to the welding point of the first and second steel pipe sections, allowing the operator to stand on the annular lifting frame 600 to inspect the weld between the first and second steel pipe sections.

[0170] In summary, the steel pipe welding equipment starts welding from the circumferential seam between the first and second steel pipes at the bottom. After welding is completed, an external hoisting cage is used to ascend to the circumferential seam between the second and third steel pipes to continue welding. This achieves assembly line-style welding of the process. The steel pipe welding equipment 10 welds each seam sequentially, in a continuous process, without the need for frequent intervention from external hoisting equipment.

[0171] While the steel pipe welding equipment 10 is welding the circumferential seam between the second and third steel pipes at the top, the winch 610 releases the steel rope, lowering the circular lifting frame 600 to the already welded circumferential seam between the first and second steel pipes. This allows for parallel welding, inspection, and maintenance in both time and space. The automated welding at the top and the inspection at the bottom are carried out simultaneously without interference. Utilizing the longitudinal space of the shaft, a single shaft is divided into two simultaneously usable work areas.

[0172] This not only speeds up the welding of individual seams but also compresses the overall project duration and improves welding efficiency through parallel processes and multifunctional equipment. The steel pipe welding equipment 10 establishes a dual quality assurance system of automated welding and real-time manual inspection, making it more reliable.

[0173] As one feasible implementation method, refer to Figures 21 to 28 As shown, the steel pipe welding equipment 10 also includes:

[0174] Mounting base 700 has mounting cavity 720; at least a portion of mounting cavity 720 is located in an annular cavity of annular lifting frame 600;

[0175] Support shoe 710 is disposed on the outer periphery of mounting base 700. Support shoe 710 is used to abut against the inner wall of steel pipe.

[0176] After the steel pipe welding equipment 10 is raised and lowered to the target welding position, the support shoe 710 extends radially from the outer periphery of the mounting base 700 and presses against the outer wall of the installed steel pipe. During the welding process, the support shoe 710 bears the welding reaction force and the vibration of the steel pipe welding equipment 10, preventing any slight displacement or rotation of the steel pipe welding equipment 10, which is a prerequisite for ensuring welding accuracy. The support shoe 710 transfers most of the weight of the steel pipe welding equipment 10 to the well wall, reducing the long-term static load on the wire rope of the winch 610 and improving safety.

[0177] The mounting cavity 720 of the mounting base 700 is used to store the equipment. The mounting base 700 is provided with an entrance and exit for operators to enter and exit the lifting base.

[0178] As one feasible implementation, the steel pipe welding equipment 10 also includes:

[0179] Air compressor, located in mounting cavity 720;

[0180] A gas cylinder is located in the mounting cavity 720; the gas cylinder is used to supply protective gas to the welding torch 540.

[0181] The power supply is used to provide electrical energy to the air compressor, welding torch 540, and robotic arm 530.

[0182] For example, the steel pipe welding equipment 10 also includes a power distribution cabinet, a pump station, an operating table, and an air gouging device. The first control component can be a control cabinet. The control cabinet, power distribution cabinet, pump station, operating table, and air gouging device are all located in the mounting cavity 720.

[0183] The control cabinet performs real-time calculations and controls the actions and coordination of all telescopic cylinders and power supplies.

[0184] Distribution cabinets are used to connect to external power grids or generator power supplies, perform voltage transformation, distribution, short circuit and overload protection, and provide safe and standardized power interfaces for all electrical equipment.

[0185] The pump station is the power source of the hydraulic system, providing high-pressure oil to the first hydraulic cylinder 210, the second hydraulic cylinder 810, and the tilting cylinder.

[0186] Air compressors provide compressed air, which may be used for pneumatic clamping, cleaning, cooling, or driving pneumatic tools (such as air gouging guns). Gas cylinders store welding shielding gases (such as Ar / CO2) to ensure weld quality. Air gouging equipment is used for weld root cleaning and defect repair.

[0187] As one feasible implementation method, refer to Figure 2 , Figure 5 , Figures 28 to 29 As shown, the steel pipe welding equipment 10 also includes at least two guide components 800; the guide components 800 are disposed on the support member 100; at least two guide components 800 are spaced apart along the circumference of the steel pipe.

[0188] For example, the guide assembly 800 ensures that the steel pipe welding equipment 10 moves vertically during the lifting and lowering process of tens or even hundreds of meters, preventing swaying, rotation or collision with the well wall / pipe wall.

[0189] As one possible implementation, the steel pipe welding equipment 10 also includes at least two guide components 800; the guide components 800 are disposed on the support shoe 710; the at least two guide components 800 are spaced apart along the circumference of the steel pipe.

[0190] For example, the guide assembly 800 ensures that the steel pipe welding equipment 10 moves vertically during the lifting and lowering process of tens or even hundreds of meters, preventing swaying, rotation or collision with the well wall / pipe wall.

[0191] As one possible implementation, when the welding equipment includes a guide assembly 800, the guide assembly 800 includes:

[0192] Second hydraulic cylinder 810;

[0193] A buffer element 820 is disposed at the output end of the second hydraulic cylinder 810;

[0194] The guide wheel 830 is located on the side of the buffer 820 opposite to the output shaft of the second hydraulic cylinder 810; the guide wheel 830 is used to abut against the inner wall of the steel pipe.

[0195] A displacement sensor is located on the side of the guide wheel 830 away from the buffer 820.

[0196] For example, the second hydraulic cylinder 810 drives the entire guide wheel 830 to extend or retract radially along the steel pipe. Its core function is active pre-tensioning: providing controllable thrust so that the guide wheel 830 presses against the inner wall of the steel pipe with a constant and appropriate pressure, which ensures the guiding effect while avoiding excessive pressure that could damage the pipe wall or cause excessive friction.

[0197] A buffer component 820 is installed between the output end of the second hydraulic cylinder 810 and the guide wheel 830. The buffer component 820 can be a hydraulic damper, an air bladder, or a high-performance polyurethane buffer block. The buffer component 820 can also be a spring-loaded buffer structure. The buffer stroke of the spring-loaded buffer structure is 30mm. The buffer component 820 is used to absorb instantaneous impacts. When the steel pipe welding equipment 10 encounters welds, protrusions, or depressions on the inner wall of the steel pipe during lifting, the buffer component 820 can absorb the enormous instantaneous impact force, protecting the second hydraulic cylinder 810 and the displacement sensor from damage.

[0198] The displacement sensor measures the radial displacement of the guide wheel 830 relative to the center of its steel pipe welding equipment 10 in real time. This signal directly reflects the real-time value of the inner diameter of the steel pipe, the ovality of the steel pipe, and local deformation.

[0199] Thus, driven by the buffer 820 and the hydraulic cylinder, the guide wheel 830 maintains contact with the inner wall of the steel pipe and rolls. Its core function is to provide low-friction, high-wear-resistant rolling guidance.

[0200] The guide assembly 800 also includes a guide sleeve, which is fitted over the piston rod (output end) of the second hydraulic cylinder 810. One end of the guide sleeve is typically fixed to the cylinder barrel or end cap of the second hydraulic cylinder 810. The other end of the guide sleeve provides enclosure and support for the extended portion of the piston rod.

[0201] Secondly, embodiments of this application provide a steel pipe welding system, comprising:

[0202] The aforementioned steel pipe welding equipment 10 is used to weld the inner circumferential seam at the joint of two adjacent steel pipe sections;

[0203] Steel pipe outer circumferential seam welding equipment, used to weld the outer circumferential seam at the joint of two adjacent steel pipe sections;

[0204] The second control component is electrically connected to both the first control component of the steel pipe welding equipment 10 and the steel pipe outer circumferential weld equipment.

[0205] For example, the second control unit can control the simultaneous operation of the steel pipe welding equipment 10 and the steel pipe outer circumferential weld welding equipment to save welding time. Furthermore, the second control unit can control the welding sequence, interpass temperature, and heat input of the inner and outer welds, effectively balancing welding stress and reducing overall deformation of the steel pipe. The second control unit can be a controller.

[0206] The equipment for welding the outer circumferential seam of steel pipes can be a magnetic crawling trolley. The crawling robot is attached to the surface of the steel pipe by permanent magnets or electromagnets and moves along the surface using tracks or wheels. Stable movement is achieved through the friction between the magnetic force and the steel pipe wall. The welding head of the magnetic crawling trolley is equipped with a welding torch 540 and a flux delivery system, enabling circumferential welding along the surface of the steel pipe.

[0207] The welds on the inner and outer sides of the steel pipe segment are welded symmetrically at the same time to improve the welding quality and reduce the impact of welding position and method on the welding quality.

[0208] In the vertical shaft, the working process of the steel pipe welding system is as follows: The steel pipe is transported from the horizontal section chamber to the vertical section excavation section to complete one transfer. Then, the steel pipe is hoisted into the vertical shaft using the excavation section crane 20. The steel pipe welding equipment 10 is hoisted into the first steel pipe segment. The steel pipe welding equipment 10 is supported by the pre-welded inner wall support baffle of the steel pipe. The steel pipe outer circumferential welded equipment is fixed in the vertical shaft, maintaining a certain safe distance from the steel pipe segment. At this point, the assembly of the second steel pipe can begin.

[0209] The second steel pipe is assembled with the first steel pipe, and then welded using steel pipe welding equipment 10 and steel pipe outer circumferential seam welding equipment.

[0210] During welding with the steel pipe welding equipment 10, a hand-operated hoist pulls the lifting ring of the support component 100. The guide wheel 830 of the guide component 800 on the support component 100 supports the inner wall of the steel pipe, ensuring that the center offset between the steel pipe welding equipment 10 and the steel pipe is no more than 20mm. The telescopic frame is placed on the support plate on the inner wall of the steel pipe, with a gap of 10-20mm between the outermost end of the telescopic frame and the inner wall of the steel pipe. The support shoe 710 on the outside of the mounting base 700 supports the inner wall of the steel pipe, keeping the steel pipe welding equipment 10 centered, and the pressure of the support shoe 710 reaches 18 tons. At this time, the flip plate 410 of the auxiliary support component is in a horizontal state.

[0211] After the first and second steel pipes are welded, the steel pipe welding equipment 10 is lifted by the crane 20 at the shaft opening to the inner annular seam of the second and third steel pipes. Before the steel pipe welding equipment 10 is moved to the welding point of the second and third steel pipes, the following operations are required: the hook of the crane 20 is connected to the lifting ring on the support 100 and pre-tensioned; then, the hand-operated hoist is removed and the operators leave; then, the support shoe 710 is retracted; then, the status of the guide wheel 830 is checked; then, the flip plate 410 is retracted to the upright position; then, the steel pipe welding equipment 10 is lifted upward by the crane 20 until the telescopic frame is detached from the support plate; then, the telescopic frame of the support 100 is retracted; then, the crane 20 lifts the steel pipe welding equipment 10 to the inner annular seam of the second and third steel pipes.

[0212] A radar can be installed at the center of the support component 100. When the crane 20 lifts the steel pipe welding equipment 10, the radar scans to confirm the position of the steel pipe support plate. When the steel pipe welding equipment 10 is higher than the support plate, the crane 20 stops lifting and the flip plate 410 flips to a horizontal position.

[0213] Subsequently, the telescopic frame is deployed, with a gap of 10-20mm between it and the inner wall of the steel pipe. Personnel enter, connect the hand-operated hoist, and tighten it. Then, the hoist is disassembled, the crane hook 20 is removed, and personnel leave, allowing the hook to disengage. Next, the hand-operated hoist is loosened until the telescopic frame is securely connected to the support plate. Then, the support shoe 710 is tightened against the steel pipe wall. Personnel then enter to conduct inspection, adjustments, and assembly work. The assembly and welding of the next section of steel pipe then begins. This process is repeated until all vertical shaft steel pipes are welded.

[0214] Throughout the entire welding process of the steel pipe welding equipment 10, the guide wheels 830 installed on the mounting base 700 remain supported against the inner wall of the steel pipe and do not retract. The guide wheels 830 installed on the lifting base only remain supported during the descent and retraction of the lifting base (i.e., the guide wheels 830 abut against the inner wall of the steel pipe), and are retracted at other times.

[0215] By using a chain hoist to pull the lifting ring of the support member 100, with the telescopic member 200 mounted on the support plate and the support shoe 710 supported on the inner wall of the steel pipe, the steel pipe welding equipment 10 can be prevented from falling. Furthermore, a protective net can be installed on the inner wall of the steel pipe to prevent falls by the steel pipe welding equipment 10 and personnel.

[0216] During the operation of the steel pipe welding system, the steel pipe welding equipment 10 first welds the inner circumferential seam of the air-going pipe. When the welding progress of the inner circumferential seam reaches 50%, the outer side of the steel pipe is cleaned. Then, the steel pipe outer circumferential seam welding equipment welds the outer circumferential seam of the steel pipe. Finally, the steel pipe welding equipment 10 continues to weld the inner circumferential seam of the steel pipe to complete the welding.

[0217] It is understood that since the steel pipe welding system of this application adopts the technical solution of the above-mentioned steel pipe welding equipment 10 embodiments, it has at least the beneficial effects brought about by the technical solution of the above-mentioned steel pipe welding equipment 10 embodiments, which will not be elaborated here.

[0218] Thirdly, embodiments of this application provide a shaft construction equipment, including:

[0219] Vertical transport operation platform system;

[0220] The aforementioned steel pipe welding system is mounted on a vertical transport operation platform system.

[0221] For example, during shaft construction, steel pipes are used as support structures. These steel pipes need to be spliced ​​and welded section by section on-site downhole to form a continuous shaft wall or support frame. The vertical transport platform system transports the steel pipe welding system it carries to the working depth where the pipe sections need to be welded.

[0222] The steel pipe fabrication and automated welding process is as follows: steel pipe body fabrication, welding of stiffening rings, steel single-ring workpiece, fabrication of multiple steel pipe sections, and vertical shaft section welding. Vertical shaft section welding includes using steel pipe welding equipment 10 to weld the inner circumferential seam at the joint of two adjacent steel pipe sections, and using steel pipe outer circumferential seam welding equipment to weld the outer circumferential seam at the joint of two adjacent steel pipe sections.

[0223] The vertical transport operation platform system includes at least one of a cage, a lift, a crane 20, or a platform.

[0224] It is understood that since the shaft construction device of this application adopts the technical solution of the above-mentioned steel pipe welding system embodiment, it has at least the beneficial effects brought about by the technical solution of the above-mentioned steel pipe welding system embodiment, which will not be elaborated here.

[0225] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A steel pipe welding equipment, characterized in that, The steel pipe welding equipment is used for welding the inner circumferential seam at the joint of two adjacent steel pipe sections. The support member (100) has a support surface that extends radially along the steel pipe; A telescopic member (200) is disposed on the outer periphery of the support member (100); the telescopic member (200) is used to move radially along the steel pipe; An auxiliary support assembly is disposed on the support surface; the auxiliary support assembly includes an auxiliary support member (300) and a flipping member (400); the flipping member (400) is disposed on the outer periphery of the auxiliary support member (300); the auxiliary support member (300) has an auxiliary support surface; the auxiliary support surface extends radially along the steel pipe; Welding assembly (500) is disposed on the auxiliary support surface; A first control element is electrically connected to the telescopic element (200), the auxiliary support assembly, and the welding assembly (500).

2. The steel pipe welding equipment according to claim 1, characterized in that, The telescopic component (200) includes a telescopic frame; The steel pipe welding equipment also includes a first hydraulic cylinder (210) and a guide (220); the first hydraulic cylinder (210) is disposed on the support (100), and the output end of the first hydraulic cylinder (210) is connected to the telescopic frame; The guide (220) is disposed on the support (100) and is used to guide the output end of the first hydraulic cylinder (210) to move radially along the steel pipe.

3. The steel pipe welding equipment according to claim 1, characterized in that, The flipper (400) includes: A flap (410) is disposed on the outer periphery of the auxiliary support (300); the flap (410) is rotatably connected to the auxiliary support (300) via a hinge (430); A rotary cylinder (420) is provided on the auxiliary support (300); the output end of the rotary cylinder (420) is connected to the flap (410).

4. The steel pipe welding equipment according to any one of claims 1-3, characterized in that, The welding assembly (500) includes: A welding base (510) is provided on an auxiliary support (300); a track is provided on the welding base (510); A welding turntable (520) is disposed on the welding base (510); the welding turntable (520) is used to move on the track; A robotic arm (530) is mounted on the welding turntable (520); A welding torch (540) is mounted on the robotic arm (530); A first connecting shaft (550) is connected to the welding turntable (520); the first connecting shaft (550) extends radially along the steel pipe; the robotic arm (530) is slidably connected to the first connecting shaft (550); A second connecting shaft (560) is connected to the welding turntable (520); a portion of the second connecting shaft (560) is located in the track.

5. The steel pipe welding equipment according to claim 4, characterized in that, Also includes: A ring-shaped lifting frame (600) is disposed on the side of the support member (100) opposite to the auxiliary support assembly; the ring-shaped lifting frame (600) and the support member (100) are connected; A winch (610) is disposed between the support member (100) and the auxiliary support member (300); the annular lifting frame (600) is connected to the winch (610) via a connector; the number of winches (610) is at least two, and at least two winches (610) are spaced apart along the circumference of the steel pipe; The mounting base (700) has a mounting cavity (720); at least a portion of the mounting cavity (720) is located in the annular cavity of the annular lifting frame (600); A support shoe (710) is disposed on the outer periphery of the mounting base (700), and the support shoe (710) is used to abut against the inner wall of the steel pipe; An air compressor is located in the mounting cavity (720). A gas cylinder is located in the mounting cavity (720); the gas cylinder is used to supply protective gas to the welding torch (540); A power source is provided to supply electrical energy to the air compressor, the welding torch (540), and the robotic arm (530).

6. The steel pipe welding equipment according to claim 5, characterized in that, It also includes at least two guide components (800); the guide components (800) are disposed on the support (100); at least two of the guide components (800) are spaced apart along the circumference of the steel pipe; And / or, the steel pipe welding equipment further includes at least two guide components (800); the guide components (800) are disposed on the support shoe (710); at least two of the guide components (800) are spaced apart along the circumference of the steel pipe.

7. The steel pipe welding equipment according to claim 6, characterized in that, When the steel pipe welding equipment includes a guide assembly (800), the guide assembly (800) includes: Second hydraulic cylinder (810); A buffer (820) is disposed at the output end of the second hydraulic cylinder (810); A guide wheel (830) is disposed on the side of the buffer (820) opposite to the output shaft of the second hydraulic cylinder (810); the guide wheel (830) is used to abut against the inner wall of the steel pipe; A displacement sensor is disposed on the side of the guide wheel (830) away from the buffer (820).

8. The steel pipe welding equipment according to claim 4, characterized in that, The number of robotic arms (530) is at least two, and at least two robotic arms (530) are spaced apart along the circumference of the steel pipe; And / or, the welding assembly (500) further includes a laser scanner and a molten pool camera; the laser scanner and the molten pool camera are mounted on the welding torch (540).

9. A steel pipe welding system, characterized in that, include: The steel pipe welding equipment according to any one of claims 1-8 is used for welding the inner circumferential seam at the joint of two adjacent steel pipe sections; Steel pipe outer circumferential seam welding equipment, used to weld the outer circumferential seam at the joint of two adjacent steel pipe sections; The second control component is electrically connected to both the first control component of the steel pipe welding equipment and the steel pipe outer circumferential weld equipment.

10. A shaft construction equipment, characterized in that, include: Vertical transport operation platform system; The steel pipe welding system of claim 9 is mounted on the vertical transport operation platform system.

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