Oil pipeline welding opening coaxial positioning and gap self-adjusting docking device

Abstract

The present application relates to a kind of oil pipeline welding opening coaxial positioning and gap self-adjusting docking device, belong to pipeline welding construction technical field.It includes hoisting mechanism, hoisting mechanism has two movable racks and the pulling mechanism consisting of pulling motor, pulling lead screw and laser range finder.Connected with truss main ring in movable rack lower end, truss main ring is formed by the rigid circular ring of several box beams hinged, ring diameter adjustment component is arranged between box beam by universal shaft and positive and negative lead screw linkage.Each box beam is arrayed with the pusher assembly comprising servo proportional hydraulic cylinder and laser ranging sensor in it.The present application can perceive the elastic rebound real profile of pipeline after being forced to shape release, and realize high-precision forced profiling by pusher assembly independently pushing and extruding the other end movable pipeline, finally realize micron level automatic control of weld through pulling feedback, greatly improve pipeline docking construction quality and self-adapting ability.

Description

Technical Field

[0001] This invention relates to a coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints, belonging to the field of pipeline welding construction technology. Background Technology

[0002] The construction of long-distance oil pipelines is often carried out in complex outdoor environments such as the Gobi Desert, mountains, and wastelands. During the manufacturing process, long-distance transportation, and long-term storage in the field, large-diameter oil pipelines inevitably experience irregular elliptic deformation (i.e., out-of-roundness) at the pipe ends due to their own weight and physical compression. When welding and connecting pipelines in the field, high-quality, precise alignment of the pipe ends and uniform weld gaps are crucial to ensuring the safe operation of the oil pipeline throughout its entire life cycle (preventing leakage and cracking).

[0003] However, existing field equipment and construction techniques have the following significant technical shortcomings: Firstly, field construction conditions are harsh and lifting equipment is limited. Traditional external rigid clamps are mostly bulky, one-piece structures of fixed dimensions, making them difficult to transport and hoist in the field; moreover, their versatility is extremely poor, unable to adapt to pipe diameter fluctuations caused by manufacturing tolerances, and cannot be directly reused in construction sections with different pipe diameters.

[0004] Secondly, existing fitting tools only provide rigid clamping, typically forcibly rounding the two pipes to be welded. However, high-strength oil pipelines exhibit significant "elastic rebound" characteristics. Due to differences in residual stress and local stiffness between the two pipes, the elastic rebound after being forcibly rounded and released is drastically different. Existing equipment lacks the ability to digitally sense and independently adjust the pipe end profile, making it impossible to map the true rebound profile and perform profile compensation. This results in a persistent slight shape mismatch (i.e., misalignment defect) between the two pipe ends, severely weakening the fatigue life of high-pressure oil pipelines.

[0005] Third, controlling the weld gap during field assembly and connection relies heavily on manual experience. Field construction typically involves the rough traction and horizontal movement of pipes using a pipe-laying machine, with welders relying solely on visual inspection or feeler gauges to guide the robotic arm in repeated fine-tuning. This non-closed-loop, rough operation not only easily damages the pipe bevel due to collisions but also fails to achieve a uniform micron / millimeter-level pre-set weld gap across the entire circumference. Uneven gaps directly lead to frequent fatal welding defects such as incomplete penetration or burn-through in subsequent automated welding operations. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a coaxial positioning and gap self-adjustment docking device for oil pipeline weld joints, so as to solve the technical problems existing in the prior art in the process of large pipeline docking, such as the inability to compensate for material springback, the difficulty in accurately matching the pipe end profile, the poor adaptability of ring diameter, and the inability to accurately control the docking gap.

[0007] The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints of the present invention includes: The hoisting mechanism includes a hanger, on which a movable frame is provided that can move in its longitudinal direction, and at least two movable frames are provided in the longitudinal direction, which are respectively used to clamp the reference pipe end and the movable pipe end; The truss main ring is connected to the lower ends of the two movable frames respectively. The truss main ring includes several box beams that are hinged in sequence. The several box beams are connected end to end to form a rigid ring surrounding the pipe. A ring diameter adjustment assembly is linked between each adjacent box girder to drive all adjacent box girder to synchronously change the included angle, so as to adaptively adjust the inner diameter of the rigid ring. A jacking assembly is independently arranged inside each of the box girders; the jacking assembly includes a servo proportional hydraulic cylinder and a laser rangefinder fixed on the box girder; the laser rangefinder is used to measure distance and provide feedback, thereby independently controlling the jacking stroke of the servo proportional hydraulic cylinder on the corresponding box girder against the outer wall of the pipe. The hoisting mechanism is equipped with a laser rangefinder for monitoring the closing distance between the two pipe end faces, and a traction mechanism for driving one of the movable frames to translate. The traction mechanism controls the translation of the truss main ring at the movable pipe end based on the feedback from the laser rangefinder, thereby pulling the movable pipe end towards the reference pipe end to achieve self-adjusting welding gap.

[0008] Furthermore, the hanger includes two parallel longitudinal beams, with a crossbeam connecting the two longitudinal beams. Each of the two longitudinal beams has a guide groove, and the two movable frames are movably connected within the guide grooves. The laser rangefinder is mounted on the crossbeam in the middle position.

[0009] Furthermore, the traction mechanism includes a support seat mounted on the crossbeam, a traction screw rotatably connected to the support seat along the longitudinal beam direction, a traction nut for use with the traction screw connected to the movable frame, and a traction motor poweredly connected to the end of the traction screw.

[0010] Furthermore, the box girder adopts a hollow box structure, the box girder includes two parallel hinged plates, two parallel support plates are fixedly connected between the two hinged plates, one end of the two hinged plates is connected to an mounting plate, and the jacking assembly is connected to the mounting plate and arranged in the space between the two hinged plates and the two support plates.

[0011] Furthermore, the ring diameter adjustment assembly includes adjusting nuts respectively hinged to two adjacent box beams, the two adjusting nuts being threadedly connected to a positive and negative lead screw, the two adjusting nuts being respectively connected to the positive and negative threads at both ends of the positive and negative lead screw, the ends of the positive and negative lead screw being provided with guide shaft sections, and the middle of the box beam being provided with a universal joint that drivesly connects the positive and negative lead screws on both sides, the two ends of the universal joint being slidably fitted onto the guide shaft sections.

[0012] Furthermore, the uppermost box girder is installed to the lower end of the movable frame via a connecting frame. A drive mechanism is installed inside the uppermost box girder, and the output end of the drive mechanism is connected to the universal joint via gear transmission; so as to drive the universal joints and the positive and negative lead screws of each stage to move together in a coordinated manner.

[0013] Furthermore, the uppermost box girder is hinged to an odd number and an even number of the remaining box girder on both sides, so that the closing and joint positions are staggered directly below; the outer sides of the two box girder at the closing and joint positions are provided with locking mechanisms for the corresponding hinge holes.

[0014] Furthermore, the locking mechanism includes a connecting seat, a spring cylinder threadedly connected to the connecting seat, a compression spring installed inside the spring cylinder, a locking shaft slidably connected inside the spring cylinder, and a limiting ring provided at one end of the locking shaft; a first permanent magnet for attracting the connecting seat to the hinge hole of the box beam is connected to the connecting seat. A second permanent magnet is attracted to the hinge hole end of the same box girder on the opposite side. When the closing ends meet, the hinge plate pushes the second permanent magnet away and the locking shaft is popped out by the restoring force of the compression spring when the hinge holes overlap to form a lock.

[0015] Furthermore, the servo proportional hydraulic cylinder integrates a built-in displacement sensor for monitoring the absolute extension distance of the servo proportional hydraulic cylinder, and each servo proportional hydraulic cylinder is equipped with an independent proportional pressure reducing valve. The output end of the servo proportional hydraulic cylinder is hinged to an arc-shaped pressure block, and the arc-shaped protrusion of the arc-shaped pressure block is rotatably connected to a pressure roller, the surface of which is covered with a high-molecular polyurethane anti-slip and wear-resistant layer.

[0016] Furthermore, the laser rangefinder is a non-contact industrial-grade laser displacement sensor, which is installed on the outside of the mounting plate. The emitted beam of the laser rangefinder is parallel to the extension axis of the servo proportional hydraulic cylinder and is perpendicularly aimed at the surface of the pipe being measured next to the pressure roller.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention uses a combination of servo hydraulic cylinders and laser sensors to acquire the true contour of a reference pipe formed by elastic rebound after "pressurization-release". Using this true contour data as a target, another set of actuators can be driven to perform closed-loop contour shaping of the moving pipe, so that the contours of the two pipe ends are highly matched before docking, thereby effectively eliminating misalignment and improving docking quality.

[0018] The ring diameter adjustment component of the present invention adopts a linkage design of "drive mechanism-universal shaft-positive and negative lead screw", which only requires one power source to synchronously change the overall inner diameter of the truss main ring, making it applicable to pipes of different diameter specifications, and overcoming the shortcomings of the narrow application range of traditional sizing type fitting device.

[0019] The locking mechanism designed in this invention utilizes the principle of permanent magnet-assisted alignment and spring energy storage and release. When the hinge holes coincide, it can automatically and quickly complete the locking, reducing the difficulty and risk of manual operation.

[0020] By integrating a traction motor, a lead screw, and a laser for distance measurement, this invention constitutes a closed-loop gap adjustment system. Based on real-time feedback from the laser rangefinder, this system automatically controls the translation distance of the moving pipe until the gap between the two pipe openings precisely reaches the standard value set by the welding process. This replaces repeated adjustments relying on manual experience, ensuring uniform and accurate gaps. Attached Figure Description

[0021] Figure 1 This is one of the structural schematic diagrams of Embodiment 1 of the present invention; Figure 2 This is a second structural schematic diagram of Embodiment 1 of the present invention; Figure 3 This is the third structural schematic diagram of Embodiment 1 of the present invention; Figure 4 This is one of the schematic diagrams of the truss main ring structure in Embodiment 1 of the present invention; Figure 5 yes Figure 4 Enlarged view of a portion of point A in the middle; Figure 6 This is the second schematic diagram of the truss main ring structure of Embodiment 1 of the present invention; Figure 7 yes Figure 6 Enlarged view of a section at point B in the middle; Figure 8 yes Figure 6 Enlarged view of a section at point C; Figure 9 This is a schematic diagram of the locking mechanism structure of Embodiment 1 of the present invention; Figure 10 This is one of the schematic diagrams of the hoisting mechanism structure in Embodiment 1 of the present invention; Figure 11This is the second schematic diagram of the hoisting mechanism structure in Embodiment 1 of the present invention; Figure 12 This is a schematic diagram of the construction structure of Embodiment 1 of the present invention; In the picture: 1. Lifting mechanism; 11. Lifting frame; 111. Longitudinal beam; 112. Crossbeam; 113. Guide groove; 114. Laser rangefinder; 12. Movable frame; 121. Guide wheel assembly; 13. Pull screw; 14. Pull nut; 15. Pull motor; 2. Truss main ring; 21. Box girder; 211. Hinge plate; 212. Support plate; 213. Mounting plate; 22. Connecting frame; 3. Ring diameter adjustment assembly; 31. Adjusting nut; 32. Positive and negative lead screws; 33. Guide shaft section; 34. Universal joint; 35. Drive mechanism; 4. Locking mechanism; 41. Connecting seat; 42. Spring sleeve; 43. Compression spring; 44. Locking shaft; 45. Limiting ring; 46. First permanent magnet; 47. Second permanent magnet; 48. Adjusting screw; 5. Pushing assembly; 51. Servo proportional hydraulic cylinder; 52. Laser rangefinder sensor; 53. Arc-shaped pressure block; 54. Pressure roller. Detailed Implementation

[0022] Example 1 like Figures 1-12 As shown, the coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints of the present invention mainly consists of a hoisting mechanism 1, a truss main ring 2, a ring diameter adjustment component 3, a locking mechanism 4, and a jacking component 5.

[0023] The hoisting mechanism 1, serving as the overall load-bearing and translation control module, includes a hanger 11. The hanger 11 comprises two parallel longitudinal beams 111, with a crossbeam 112 fixedly connected between them. Guide grooves 113 are formed on the inner sides of each longitudinal beam 111. The device has two sets of movable frames 12 that can move longitudinally within the guide grooves 113. Guide wheel sets 121 are installed at both ends of the movable frames 12, rolling into the guide grooves 113 via the guide wheel sets 121, thus creating rolling friction for better suitability for heavy loads and greater environmental adaptability. One movable frame 12 serves as a fixed frame for clamping the reference pipe end, while the other serves as a movable frame for clamping the movable pipe end. To control the translation of the movable frame, a support base is installed on the crossbeam 112, with a pull screw 13 rotatably connected to the support base. A pull nut 14, corresponding to the pull screw 13, is provided on the movable frame 12. A pull motor 15 is connected to the end of the pull screw 13. In addition, a high-precision laser rangefinder 114 is installed on the crossbeam 112, whose beam is aligned with the gap at the end of the pipe to provide real-time feedback on the closing distance between the two pipe openings.

[0024] Each of the two movable frames 12 has a truss main ring 2 connected to its lower end. The truss main ring 2 is the ultimate bearer of all shaping thrust and reaction forces. To achieve the highest stiffness-to-weight ratio, it is designed as a flexible, adjustable rigid ring composed of several hinged box beams 21. Specifically, the box beams 21 have a hollow structure, including two parallel hinged plates 211, with a support plate 212 fixedly connected between the hinged plates 211, and a mounting plate 213 connected to one end. The uppermost box beam 21 is securely mounted to the lower end of the movable frame 12 via a connecting frame 22.

[0025] To enable the truss main ring 2 to adapt to multiple pipe diameters, a ring diameter adjustment assembly 3 is configured between adjacent box girder 21. An adjusting nut 31 is hinged to each pair of adjacent box girder 21, and a positive and negative threaded rod 32 passes between the two adjusting nuts 31. The two adjusting nuts 31 are respectively installed on the positive and negative threads at both ends of the positive and negative threaded rod 32. Guide shaft sections 33 are provided at both ends of the positive and negative threaded rod 32. A universal joint 34 is transversely arranged inside the box girder 21, and its two ends slide into the guide shaft sections 33 on adjacent sides, thereby connecting the positive and negative threaded rods 32 on the left and right sides. A drive mechanism 35 is installed inside the uppermost box girder 21, and the output gear of the drive mechanism 35 directly drives the uppermost universal joint 34. The drive mechanism 35 is a motor-driven gearbox. During operation, the drive mechanism 35 starts, driving the uppermost universal joint 34 to rotate. The uppermost universal joint 34 is a three-section type, with the middle section connected to the output gear of the gearbox via gears, which then transmits the rotation to all cascaded positive and negative lead screws 32 in sequence. The rotation of the positive and negative lead screws 32 pulls closer to or pushes away from the adjacent adjusting nuts 31, thereby changing the included angle of all adjacent box beams 21, realizing the enlargement or reduction of the overall ring diameter. The number of box beams 21 is increased according to the pipe diameter, with two box beams 21 added at a time.

[0026] Because a closed loop needs to be completed on-site during pipeline construction, the number of box girder 21s extending and hinged at both ends of the uppermost box girder 21 is designed to be an asymmetrical odd and even number, so that the final closing point below avoids being directly below, facilitating operation. A locking mechanism 4 is provided on the outside of the box girder 21 at the docking point. The locking mechanism 4 includes a connecting seat 41, on which a spring cylinder 42 is threadedly connected. The spring cylinder 42 contains a compression spring 43, and a locking shaft 44 is slidably embedded inside it. A limiting ring 45 is provided at the tail of the locking shaft 44. A first permanent magnet 46 is fixed to the bottom of the connecting seat 41 so that it can be quickly attracted and positioned on the outside of the hinge hole of one side of the box girder 21; while a second permanent magnet 47 is pre-attracted at the end of the hinge hole of the box girder 21 on the opposite side of the closing point. The first permanent magnet 46 and the second permanent magnet 47 are preferably neodymium iron boron (NdFeB) rare earth high-strength permanent magnets. When the main ring of the truss is driven to contract and close, the moving hinge plate 211 will be physically squeezed and push open the second permanent magnet 47. At the moment when the hinge holes on both sides are completely aligned and overlapped, due to the disappearance of the obstruction, the locking shaft 44 is pushed out instantly by the strong push of the compression spring 43, penetrates the hinge holes on both sides, and completes the pure mechanical self-locking.

[0027] The end of the spring sleeve 42 is threaded with an adjusting screw 48. The elasticity of the compression spring 43 is adjusted by screwing the screw into the spring sleeve 42, thereby ensuring the elasticity of the compression spring 43.

[0028] To endow the main ring 2 of the truss with sensing and forced contouring capabilities, an independently arrayed jacking assembly 5 is installed inside each box girder 21. The jacking assembly 5 is fixed to the mounting plate 213, and its core includes an industrial-grade laser rangefinder 52 and a servo proportional hydraulic cylinder 51. The laser rangefinder 52 is mounted on the outside of the mounting plate 213, providing a non-contact output of the precise distance (micrometer level) to the target object. The servo proportional hydraulic cylinder 51 is equipped with an independent proportional pressure reducing valve for precise thrust control and has a built-in LVDT displacement sensor (accuracy 0.1mm) to monitor absolute stroke. Its output end is hinged to an arc-shaped pressure block 53, the end of which is rotatably connected to a pressure roller 54. The surface of the pressure roller 54 is covered with a high-polymer polyurethane anti-slip and wear-resistant layer, and the hinged design allows it to adaptively swing angles.

[0029] When this device is working, it operates based on the following logic: First, the movable frame 12 at the fixed end drives the main truss ring 2 on one side to surround the reference pipe, at which point all servo proportional hydraulic cylinders 51 retract. Then, all servo proportional hydraulic cylinders 51 press against the pipe surface at low pressure (e.g., 5 bar), and the laser rangefinder 52 synchronously reads the original contour data. The system calculates the error at each point, and a high-frequency command (e.g., 100Hz) causes all servo proportional hydraulic cylinders 51 to extend by the corresponding absolute displacement, forcibly pressing the pipe into an ideal circle. Subsequently, the thrust of all servo proportional hydraulic cylinders 51 is slowly released, and after the pipe elastically rebounds and stabilizes, the laser rangefinder 52 reads the data a second time. This set of data represents the true, stable contour of the pipe, serving as the "reference template data."

[0030] Next, the mobile frame 12 drives the main truss ring 2 on the other side to surround the movable pipe to be docked. After reading its initial contour, the system calls the "reference template data" recorded earlier as the target value and drives the servo proportional hydraulic cylinder 51 to perform closed-loop error calculation and jacking displacement iteration on the movable pipe until the movable pipe is forcibly shaped into a contour that is completely consistent with the reference template. After the contouring is completed, the valves of all servo proportional hydraulic cylinders 51 are locked to maintain pressure.

[0031] Finally, the control system activates the traction motor 15, causing the traction screw 13 to rotate and pull the movable frame 12, bringing the two pipes, which are in a matching shape, closer together. After the macroscopic center axis is aligned, the device uses the laser rangefinder 114 on the crossbeam 112 to detect the distance between the two end faces in real time and feeds it back to the control system. The traction motor 15 then performs micro-adjustments until the gap precisely reaches the set value required by the welding process (e.g., 3.0 mm). After the positioning spot welding is completed, the truss main ring is hydraulically unloaded, the locking mechanism is opened, and the truss is removed from the site, completing a high-quality docking.

[0032] Working principle: Ring diameter adaptive principle: After the drive mechanism 35 starts, it drives the uppermost universal joint 34 to rotate, which in turn transmits the rotation to all the cascaded positive and negative lead screws 32 in sequence. The rotation of the positive and negative lead screws 32 pulls closer to or pushes away the adjacent adjusting nuts 31. Based on the lever hinge principle, it changes the relative angle of all adjacent box beams 21, thereby realizing the enlargement or reduction of the inner diameter of the entire rigid ring to adapt to the envelope requirements of different pipe diameters.

[0033] Mechanical locking principle: When the main ring 2 of the truss is driven to contract and close, the hinge plate 211 at the closing end, which moves over, will be physically squeezed and slowly push open the second permanent magnet 47 that was originally attached to the opposite side. At this time, the locking shaft 44 gradually transitions onto the hinge plate 211. At the moment when the hinge holes on both sides are completely aligned and overlapped, the locking shaft 44 in the energy storage state is instantly ejected under the strong thrust of the compression spring 43, penetrates the hinge holes on both sides, and completes the pure mechanical self-locking, avoiding the problem of difficult connection of the ring at high altitude in the field.

[0034] Contour closed-loop mapping and contouring principle: The device uses a laser rangefinder 52 to acquire real-time microscopic distance data from various angles of the pipe's outer wall. Combined with the absolute extension amount fed back by the built-in sensor of the servo proportional hydraulic cylinder 51, the system can outline the two-dimensional contour of an irregular, out-of-round pipe with micron-level precision. By controlling each cylinder to perform independent pushing with different strokes, the physical shape of the pipe can be forcibly changed, achieving contour cloning based on real data.

[0035] The principle of gap self-adjustment: The traction motor 15 drives the traction screw 13 to rotate, and the rotational motion is converted into the linear translation of the movable frame 12 through the traction nut 14. During the movement, the laser rangefinder 114 on the crossbeam 112 continuously emits laser to measure the absolute distance between the two pipe end faces, and feeds the data back to the control system to adjust the speed and start / stop of the motor, forming a closed-loop distance fine-tuning architecture.

[0036] Work process: like Figure 12 As shown, at the field connection construction site of the oil pipeline, the overall workflow of this device is carried out in the following three stages: Phase 1: Data Acquisition and Real Springback Profile Calibration of the Reference Pipeline Step 1: Move the entire device to the docking position using field hoisting equipment, open the main truss rings 2 on both sides, and close the main truss ring 2 on the fixed frame side to the end of the already laid reference pipe; the drive mechanism 35 actuates to retract the main truss ring 2 until the locking mechanism 4 self-locks closed. At this time, all servo proportional hydraulic cylinders 51 are in the retracted state.

[0037] Step 2: The control system instructs all servo proportional hydraulic cylinders 51 to slowly extend at low pressure (e.g., 5 bar) until they fit against the surface of the reference pipe. Then, high-frequency closed-loop pushing begins: the control system, combined with the data from each laser rangefinder 52, instructs each servo proportional hydraulic cylinder 51 to extend independently with the corresponding absolute displacement, forcibly pressing the out-of-round reference pipe into an ideal circular state (with the error controlled within the threshold).

[0038] Step 3: Instruct all servo proportional hydraulic cylinders 51 to synchronously and slowly release thrust. Wait several seconds to allow the residual stress inside the reference pipe material to be fully released and elastic rebound to occur. After the rebound stabilizes, the laser rangefinder 52 reads the full circle data again. This set of out-of-roundness profile data, containing the material's true rebound characteristics, is recorded and stored by the control system as "reference template data".

[0039] Phase Two: Closed-Loop Contouring Push of the Moving Pipeline Step 4: Make the main ring 2 of the truss on the moving frame side envelop the moving pipe to be connected, and also complete the closed-loop locking (this step can also be completed at the same time as step 1).

[0040] Step 5: The laser rangefinder array 52 on this side reads the initial, original profile of the moving pipe. Subsequently, the control system calls the "reference template data" as the control target value.

[0041] Step 6: The system calculates the difference between the current active pipe profile and the target "baseline template data," and drives all servo proportional hydraulic cylinders 51 on that side to perform differential pushing iterations. This continues until the active pipe is forcibly shaped into a profile completely consistent with the baseline pipe after release in the first stage. After shaping, the proportional valves of all servo proportional hydraulic cylinders 51 are immediately locked to maintain the current posture and completely eliminate the risk of misalignment caused by springback.

[0042] Phase 3: Fully Automatic Gap Adjustment and Precision Welding Step 7: Since the three-dimensional shape of the two pipe openings has been forcibly maintained at a 100% fit, the traction motor 15 is started at this time to drive the moving pipe to move closer to the reference pipe, so as to achieve macroscopic alignment of the central axis.

[0043] Step 8: When the pipe ends are brought together at extremely close range, the traction motor 15 switches to low-speed fine-tuning mode. The laser rangefinder 114 on the crossbeam 112 detects the gap between the two pipe end faces in real time and feeds the data back to the central control unit. When the laser rangefinder 114 detects that the gap precisely meets the value required by the welding process instruction (such as a uniform 3.0mm ± 0.2mm), the central control unit immediately cuts off the power to the traction motor 15 and locks itself.

[0044] Step 9: Field welders (or automatic welding machines) perform tack welding at the pipe openings with perfect gaps and zero misalignment. After tack welding is completed, all servo proportional hydraulic cylinders 51 are unloaded and retracted. Construction personnel remove the locking mechanism 4 adsorbed on the hinge plate 211 by disassembling the tooling. The drive mechanism 35 reverses to open the truss main ring 2. The hoisting equipment moves the device out and begins the cycle of the next weld.

[0045] The descriptions of the orientation and relative positional relationships of the structures in this invention, such as front, back, left, right, up, and down, do not constitute a limitation of this invention, but are merely for the convenience of description.

Claims

1. A coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints, characterized in that, include: The hoisting mechanism (1) includes a hanger (11), on which a movable frame (12) is provided that can move in its longitudinal direction, and at least two movable frames (12) are provided in the longitudinal direction, which are respectively used to clamp the reference pipe end and the movable pipe end; The truss main ring (2) is connected to the lower ends of the two movable frames (12). The truss main ring (2) includes several box beams (21) that are hinged in sequence. The several box beams (21) are connected end to end to form a rigid ring surrounding the pipe. The ring diameter adjustment component (3) is linked between each adjacent box beam (21) to drive all adjacent box beams (21) to change the included angle synchronously, so as to adaptively adjust the inner diameter of the rigid ring. The jacking assembly (5) is independently arranged inside each of the box beams (21); the jacking assembly (5) includes a servo proportional hydraulic cylinder (51) and a laser range sensor (52) fixed on the box beam (21); the laser range sensor (52) is used to measure distance and provide feedback, thereby independently controlling the jacking stroke of the servo proportional hydraulic cylinder (51) on the corresponding box beam (21) against the outer wall of the pipe; The hoisting mechanism (1) is equipped with a laser rangefinder (114) for monitoring the closing distance between the two pipe end faces, and a traction mechanism for driving one of the movable frames (12) to translate. The traction mechanism controls the translation of the truss main ring (2) at the movable pipe end based on the feedback of the laser rangefinder (114), thereby pulling the movable pipe end to move towards the reference pipe end to achieve self-adjusting welding gap.

2. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 1, characterized in that, The hanger (11) includes two parallel longitudinal beams (111), and a crossbeam (112) is connected between the two longitudinal beams (111). Guide grooves (113) are provided in the two longitudinal beams (111), and the two movable frames (12) are movably connected in the guide grooves (113); the laser rangefinder (114) is set on the crossbeam (112) in the middle position.

3. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 2, characterized in that, The traction mechanism includes a support seat mounted on a crossbeam (112), a traction screw (13) rotatably connected to the support seat along the direction of the longitudinal beam (111), a traction nut (14) connected to the movable frame (12) for use with the traction screw (13), and a traction motor (15) powered to the end of the traction screw (13).

4. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 1, characterized in that, The box girder (21) adopts a hollow box structure. The box girder (21) includes two parallel hinge plates (211). Two parallel support plates (212) are fixedly connected between the two hinge plates (211). One end of the two hinge plates (211) is connected to an mounting plate (213). The jacking assembly (5) is connected to the mounting plate (213) and arranged in the space between the two hinge plates (211) and the two support plates (212).

5. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 1, characterized in that, The ring diameter adjustment assembly (3) includes adjusting nuts (31) respectively hinged to two adjacent box beams (21). The two adjusting nuts (31) are threaded to a positive and negative screw (32). The two adjusting nuts (31) are respectively connected to the positive and negative threads at both ends of the positive and negative screw (32). The positive and negative screw (32) is provided with a guide shaft section (33) at its end. The box beam (21) is provided with a universal shaft (34) in the middle to drive the positive and negative screws (32) on both sides. The two ends of the universal shaft (34) are slidably fitted onto the guide shaft section (33).

6. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 5, characterized in that, The uppermost box beam (21) is installed at the lower end of the movable frame (12) via a connecting frame (22). A drive mechanism (35) is installed inside the uppermost box beam (21). The output end of the drive mechanism (35) is connected to the universal joint (34) via gear transmission. The drive mechanism (35) drives the universal joints (34) and the positive and negative lead screws (32) of each stage to move together.

7. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 1, characterized in that, The topmost box beam (21) is hinged to an odd number and an even number of the other box beams (21) on both sides, so that the closing and joint positions are staggered directly below; the outer sides of the two box beams (21) located at the closing and joint position are provided with locking mechanisms (4) corresponding to the hinge holes.

8. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 7, characterized in that, The locking mechanism (4) includes a connecting seat (41), a spring cylinder (42) is threaded onto the connecting seat (41), a compression spring (43) is installed inside the spring cylinder (42), a locking shaft (44) is slidably connected inside the spring cylinder (42), and a limiting ring (45) is provided at one end of the locking shaft (44); a first permanent magnet (46) is connected to the connecting seat (41) for attracting the connecting seat (41) to the hinge hole of the box beam (21). A second permanent magnet (47) is attracted to the hinge hole end of the same box beam (21) on the opposite side. When the closing ends meet, the hinge plate (211) pushes the second permanent magnet (47) away and uses the restoring force of the compression spring (43) to pop out the locking shaft (44) to form a lock when the hinge holes overlap.

9. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 4, characterized in that, The servo proportional hydraulic cylinder (51) integrates a built-in displacement sensor for monitoring the absolute distance of the servo proportional hydraulic cylinder extension, and each of the servo proportional hydraulic cylinders (51) is equipped with an independent proportional pressure reducing valve. The output end of the servo proportional hydraulic cylinder (51) is hinged to an arc-shaped pressure block (53), and the arc-shaped protrusion of the arc-shaped pressure block (53) is rotatably connected to a pressure roller (54), and the surface of the pressure roller (54) is covered with a high-molecular polyurethane anti-slip and wear-resistant layer.

10. The coaxial positioning and gap self-adjusting docking device for oil pipeline weld joints according to claim 9, characterized in that, The laser rangefinder (52) is a non-contact industrial-grade laser displacement sensor, which is installed on the outside of the mounting plate (213). The laser rangefinder (52) emits a beam parallel to the telescopic axis of the servo proportional hydraulic cylinder (51) and is perpendicularly aimed at the surface of the pipe to be measured next to the pressure roller (54).

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