Full-path water conservancy pipeline automatic welding device

Abstract

The utility model discloses a full-path water conservancy pipeline automatic welding device in the technical field of pipeline welding, which comprises a circumferential crawler belt, a welding platform, a rotary driving mechanism, a chain wheel, a support fixing piece, a chain, a linear driving module, a reciprocating connecting rod, a pitching connecting rod and a pitching driving mechanism, the welding module comprises a welding gun, a fixing frame, a pneumatic tendon and a torsion motor. The hydraulic pipeline welding device is suitable for hydraulic pipeline welding, a welding gun can conduct turnover motion and longitudinal motion, full-path welding of pipelines can be achieved, flexible supporting and anti-interference of welding spot positions are fully designed, the welding effect under the complex equipment installation and use environment is guaranteed, and the working efficiency is improved. The device is high in environmental adaptability, free in welding track adjustment, good in stability, good in actual use effect and beneficial to popularization.

Description

Technical Field

[0001] The utility model relates to the technical field of pipeline welding, in particular to an automatic welding device for full-path water conservancy pipelines. Background Art

[0002] Traditional water conservancy pipelines usually use manual welding technology, which is labor-intensive. As the construction of water conservancy pipelines goes deeper into harsh geological and geographical environments such as deserts, plateaus, mountains and hills, the progress of manual construction is slow and the welding quality is difficult to guarantee. And with the increasing demand for water, the development of large-diameter, high-strength and thick-walled water pipelines in water conservancy projects makes manual welding difficult to implement. In addition, since the welding of pipeline annular butt welds in water conservancy projects is currently mainly completed by manual arc welding or semi-automatic gas shielded welding, when pipeline construction is increasingly using large-diameter thick-walled pipes, the time for manual welding to complete a weld and the lengthening of interlayer cleaning will inevitably lead to the interlayer temperature being lower than the required preheating temperature, and the increase of cold cracks caused by welding, which affects the welding quality of the pipeline. Not only that, for manual welding, the welding quality is greatly affected by the technical level of the operator.

[0003] In the prior art, there is a small proportion of cases where automatic welding technology is used, but the current automatic welding technology has three major problems: (1) The environmental adaptability is general, the welding work platform has poor flexibility and mobility, and the device is large in size. For example, the full-position large-diameter pipeline automatic welding device and method disclosed in Publication No. CN116423118A or the pipe automatic welding detection integrated device disclosed in Publication No. CN116175038A. Such technology or related types of technology are difficult to set up in narrow sections or unstable terrain, so it is difficult to have practical effectiveness. (2) When laying water conservancy pipelines in the field, according to the laying requirements, the welding trajectory may not be a perfect circle. The automatic welding platform and system require full-track and full-position welding. Therefore, the automatic welding device for polytetrafluoroethylene pipes disclosed in Publication No. CN219026425U cannot meet the welding needs of water conservancy pipelines. (3) The implementation method should be as stable as possible. The outdoor welding environment is often harsh, and general mechanical structures will produce obvious vibrations and structural jumps during welding or cutting. Sufficient stability must be ensured during outdoor construction. The arc, high temperature, smoke, vibration, and electromagnetic fields generated by the welding process and the influence of ambient wind speed on the welding shielding gas during the welding process must be eliminated by the equipment. Otherwise, once the welding equipment fails, it will greatly affect the construction progress and increase the construction cost. Especially for the construction using the flow operation method, it is easy to cause large-scale idle work. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies in the prior art and to provide a full-path water conservancy pipeline automatic welding device that can drive the welding gun to perform a circulation movement around the pipeline and a longitudinal movement along the pipeline axis, thereby solving the problems of the current automatic welding device, such as general environmental adaptability, inability to freely adjust the welding trajectory, and poor stability.

[0005] In order to solve the above technical problems, the utility model is implemented by adopting the following technical solutions:

[0006] The utility model provides an all-path water conservancy pipeline automatic welding device, comprising: a circumferential crawler and a welding platform capable of moving along the circumferential crawler, a rotating driving mechanism is arranged on the welding platform, a sprocket is connected to the output end of the rotating driving mechanism, a supporting fixture is arranged on the circumferential crawler, a chain is arranged on the supporting fixture, and the chain is annularly sleeved outside the circumferential crawler and meshed with the sprocket;

[0007] A linear drive module is provided on one side of the welding platform, a reciprocating connecting rod is provided at the output end of the linear drive module, a pitch connecting rod is hingedly connected to one end of the reciprocating connecting rod away from the linear drive module, a pitch driving mechanism is provided on the reciprocating connecting rod, and the pitch driving mechanism is transmission-connected with the pitch connecting rod for driving the pitch connecting rod to rotate around the hinge point;

[0008] A welding module is provided at one end of the pitch link away from the reciprocating link. The welding module includes a welding gun, a fixing frame mounted on the welding gun, a pneumatic tendon at the bottom of the fixing frame, and a torsion motor arranged on the pitch link. One end of the pneumatic tendon away from the fixing frame is fixedly connected to the output shaft of the torsion motor.

[0009] Furthermore, the welding platform includes a workbench, bosses on both sides of the bottom of the workbench, a rotating shaft rotatably connected between the bosses, and a plurality of V-shaped protrusions arranged on the circumferential outer wall of the rotating shaft. The circumferential track is formed by connecting a plurality of track assemblies, and the track assemblies are provided with V-shaped grooves adapted to the V-shaped protrusions, so that the welding platform can be displaced along the circumferential track.

[0010] Furthermore, a support rod is provided on one side of the reciprocating connecting rod close to the water conservancy pipeline, and a universal wheel is provided at the end of the support rod.

[0011] Furthermore, the rotary drive mechanism includes an epicyclic motor and an electric control box electrically connected to the epicyclic motor, and the output shaft of the epicyclic motor is fixedly connected to the sprocket.

[0012] Furthermore, the bottom of the crawler assembly is slidably connected to a scissor-type bracket, and a spring is provided inside the scissor-type bracket.

[0013] Furthermore, the circumferential tracks are provided in two groups, and an annular belt is provided between the two groups of the circumferential tracks, and the surface of the annular belt is an elastic and smooth surface.

[0014] Furthermore, the chain is provided with a connection block for adjusting the tightness of the chain, the annular belt is movably provided with a fixing plate, the supporting fixture is fixedly provided on the fixing plate, and the supporting fixture is sleeved on the chain.

[0015] The supporting fixture is used to support the chain in the tensioned state, so that it is isolated from the crawler, the endless belt, and the pipe wall as much as possible to reduce friction, and the chain can be completely isolated from the crawlers on both sides. After adjusting the chain tension, the chain, the supporting fixture and the endless belt are pressed in sequence to achieve a relatively fixed effect. During the welding process, when the rotary drive mechanism drives the sprocket to rotate, the meshing point between the chain and the sprocket, and the meshing point between the crawler and the welding platform shaft are subjected to force at the same time. The damping of the welding platform shaft is much smaller than the damping of the sprocket, so the chain will not slip, and only the welding platform can achieve circumferential movement around the pipe wall under the rotation of the shaft.

[0016] In order to avoid contact and friction with the pipe wall, crawler belt or endless belt in all directions of the chain, a plurality of combinations of the fixing plates and supporting fixtures may be arranged in all directions of the pipe wall.

[0017] It should be noted that the supporting fixture is set on the endless belt through a fixing plate. When the chain is not fully tensioned, or the welding platform moves close to the supporting fixture, the chain angle changes so that the pressure of the chain on the supporting fixture is reduced, and the friction between the fixing plate and the endless belt is reduced. The fixing plate can change its position relative to the endless belt.

[0018] That is to say, the position of the supporting fixture can be preliminarily determined as needed before welding begins and when the chain is not tightened. When the welding platform moves close to the supporting fixture, the welding process can be paused, the chain can be loosened to adjust the position of all or individual supporting fixtures so that there is a certain distance between the current welding pause position and the next supporting fixture, and then the chain is tightened again to continue the welding process.

[0019] Of course, it is also possible that when the welding platform moves to the position of contacting the supporting fixture, the pressure of the chain on the supporting fixture is extremely small, and the thrust of the welding platform on the supporting fixture will be able to push the supporting fixture to move, that is, the supporting fixture will not hinder the circumferential movement of the welding platform. At this time, if there are other supporting fixtures, the other supporting fixtures and the chain are still in a compressed state, which can continue to keep the chain from slipping.

[0020] When two combinations of supporting fixtures and fixing plates are provided, it is preferred that the central angle of the circumferential position points where the two supporting components are located is 30 degrees.

[0021] Of course, it is also possible to set only one fixed or movable supporting fixture. If the supporting fixture is fixed, it can be relatively fixed to the chain, thereby further ensuring that the chain does not slip while achieving the supporting effect. Since the supporting fixture is very small relative to the circumference of the entire pipeline, and the combination of pneumatic tendons, torsion motors, pitch links, etc. in the welding module enables the welding gun to have a certain welding point working range adjustment margin on both sides of the straight trajectory, when the welding platform moves to the supporting fixture, the adjustment margin of the welding gun can be used to achieve welding at the axial position corresponding to the installation position of the supporting fixture.

[0022] Furthermore, a supporting wheel for supporting the chain is provided on the side wall of the workbench.

[0023] Furthermore, the pitch drive mechanism is a pitch motor, and the output shaft of the pitch motor is coaxially arranged with the hinge point of the pitch link and fixedly connected.

[0024] Furthermore, the fixing frame is L-shaped, the vertical plate of the fixing frame is provided with a through hole for fixing the welding gun, and the horizontal plate of the fixing frame is provided with a fixing hole for connecting the pneumatic tendon.

[0025] Compared with the prior art, the beneficial effects achieved by the utility model are:

[0026] 1. The utility model enables the welding gun to move circumferentially around the pipeline and longitudinally along the pipeline axis, so as to realize full-path welding on the pipeline surface. At the same time, the utility model designs flexible support and anti-interference of the welding point position, which ensures the welding effect in complex equipment installation and use environment. It has high environmental adaptability, the welding trajectory can be freely adjusted and has good stability, and the actual use effect is good, which is conducive to promotion;

[0027] 2. The utility model drives the sprocket engaged with the chain to rotate through the rotary drive mechanism, so that the rotating shaft arranged between the bosses of the welding platform workbench with the V-shaped protrusions is continuously embedded in the V-shaped groove, so that the welding platform can climb on the circular crawler to form a circular motion, which runs smoothly, firmly and reliably, improves the accuracy and stability of welding, and can ensure better welding quality;

[0028] 3. The utility model can reduce the influence of high deflection when the welding mold and the linear drive module are extended forward by arranging the support rod, and also has a certain degree of buffering effect on the vibration and jump generated by the welding module. The universal wheel ensures that when the welding module and other structures move on the pipe wall, the support rod can both support and play a role without affecting the smoothness of movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0030] Figure 1 It is a structural schematic diagram of a full-path hydraulic pipeline automatic welding device provided by an embodiment of the utility model;

[0031] Figure 2 yes Figure 1 An enlarged schematic diagram of point A in the full-path hydraulic pipeline automatic welding device shown;

[0032] Figure 3 yes Figure 1 A side view of a circumferential crawler in the full-path hydraulic pipeline automatic welding device shown;

[0033] Figure 4 yes Figure 1 An enlarged schematic diagram of a welding platform in the full-path hydraulic pipeline automatic welding device is shown;

[0034] Figure 5 yes Figure 1 An enlarged schematic diagram of a reciprocating connecting rod in a full-path hydraulic pipeline automatic welding device is shown;

[0035] Figure 6 yes Figure 1 A side view of a welding platform in the full-path hydraulic pipeline automatic welding device shown;

[0036] Figure 7 yes Figure 1 The structural schematic diagram of the crawler assembly in the full-path hydraulic pipeline automatic welding device shown;

[0037] In the figure: 1, circular track; 1a, track assembly; 1a1, V-shaped groove; 2, welding platform; 2a, workbench; 2b, boss; 2c, rotating shaft; 2d, V-shaped protrusion; 3, rotary drive mechanism; 3a, rotary motor; 3b, electric control box; 4, sprocket; 5, supporting fixture; 6, chain; 7, linear drive module; 8, reciprocating connecting rod; 9, pitch connecting rod; 10, pitch drive mechanism; 18a, welding gun; 18b, fixing frame; 18c, pneumatic tendon; 18d, torsion motor; 11, support rod; 12, universal wheel; 13, scissors bracket; 14, spring; 15, annular belt; 16, connecting block; 17, fixing plate; 18, welding module; 19, support wheel. DETAILED DESCRIPTION

[0038] The utility model is further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the utility model, and cannot be used to limit the protection scope of the utility model.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0041] It should be particularly noted that the “full path” mentioned in the present invention refers to a longitudinal path along the axial direction of the pipeline and a circumferential path around the circumference of the pipeline.

[0042] Embodiment 1:

[0043] This embodiment introduces a full-path water conservancy pipeline welding device, referring to Figure 1 , which comprises: a circumferential crawler 1 and a welding platform 2 capable of moving along the circumferential crawler 1, a rotating driving mechanism 3 is provided on the welding platform 2, a sprocket 4 is connected to the output end of the rotating driving mechanism 3, a supporting fixture 5 is provided on the circumferential crawler 1, a chain 6 is provided on the supporting fixture 5, and the chain 6 is annularly sleeved outside the circumferential crawler 1 and meshed with the sprocket 4;

[0044] A linear drive module 7 is provided on one side of the welding platform 2, a reciprocating connecting rod 8 is provided at the output end of the linear drive module 7, a pitch connecting rod 9 is hingedly connected to one end of the reciprocating connecting rod 8 away from the linear drive module 7, a pitch driving mechanism 10 is provided on the reciprocating connecting rod 8, and the pitch driving mechanism 10 is transmission-connected with the pitch connecting rod 9 for driving the pitch connecting rod 9 to rotate around the hinge point;

[0045] A welding module 18 is provided at one end of the pitch link 9 away from the reciprocating link 8, and the welding module 18 includes a welding gun 18a, a fixing frame 18b sleeved on the welding gun 18a, a pneumatic muscle 18c provided at the bottom of the fixing frame 18b, and a torsion motor 18d provided on the pitch link 9, and one end of the pneumatic muscle 18c away from the fixing frame 18b is fixedly connected to the output shaft of the torsion motor 18d.

[0046] When the present embodiment is used, when the device is turned on, the welding platform can drive the welding gun to move circumferentially around the pipe under the cooperative drive of the rotary drive mechanism, sprocket and chain. Under the cooperative drive of the linear drive module, reciprocating connecting rod, etc., the welding module can move longitudinally along the axis of the pipe, that is, the pipe welding with full path coverage is realized.

[0047] It should be noted that the support fixture can be movably or fixedly installed on the circumferential crawler, preferably a movable setting. The support fixture and the chain can be movably set, and only the friction force when the chain is pressed can keep it relatively fixed during the welding process. It can also be set so that the support fixture and the chain are relatively fixed. Under this setting mode, the support fixture is a detachable fixed setting or a movable setting, so the welding can be suspended midway to adjust the tightness of the chain, and then adjust the position of the support fixture and the meshing position of the chain and the sprocket, and then continue welding to achieve omnidirectional welding of the pipeline circumference.

[0048] The support fixture is used to support the chain in the tensioned state, position the chain so that it is isolated from the track and reduce the contact friction with the pipe wall. After adjusting the chain tension, the chain presses the support fixture and is relatively fixed to the pipe wall. During the welding process, when the rotary drive mechanism drives the sprocket to rotate, the meshing point between the chain and the sprocket, and the meshing point between the track and the welding platform shaft are subjected to force at the same time. The damping of the welding platform shaft is much smaller than that of the sprocket, so the chain will not slip, and only the welding platform can achieve circumferential movement around the pipe wall under the rotation of the shaft.

[0049] Embodiment 2:

[0050] refer to Figure 1 As shown, this embodiment introduces a full-path water conservancy pipeline welding device, including a circumferential crawler 1 and a welding platform 2 that can move along the circumferential crawler 1, a rotating drive mechanism 3 is provided on the welding platform 2, and a sprocket 4 is connected to the output end of the rotating drive mechanism 3;

[0051] The welding platform 2 includes: a workbench 2a, bosses 2b on both sides of the bottom of the workbench 2a, a rotating shaft 2c rotatably connected between the bosses 2b, and a plurality of V-shaped protrusions 2d arranged on the circumferential outer wall of the rotating shaft 2c. The circumferential track 1 is formed by connecting a plurality of track assemblies 1a. The track assembly 1a is provided with a V-shaped groove 1a1 adapted to the V-shaped protrusion 2d, so that the welding platform 2 can be displaced along the circumferential track 1.

[0052] There are two groups of circular crawlers 1, and an annular belt 15 is arranged between the two groups of circular crawlers 1. The surface of the annular belt 15 is an elastic and smooth surface. On the one hand, it plays a certain shaping role on the circular crawler 1, and on the other hand, it isolates the chain from the pipe wall to prevent the chain from directly contacting the pipe wall and causing friction damage to the pipe wall.

[0053] A fixing plate 17 is slidably sleeved on the endless belt 15, and the supporting fixture 5 is fixed on the fixing plate 17. The upper end of the supporting fixture 5 is sleeved outside the chain 6, and the chain 6 is sleeved outside the circumferential crawler 1 in an annular shape and meshed with the sprocket 4. This arrangement makes it possible for the chain and the supporting fixture to be relatively fixed when the chain is compressed, and the elastic material of the endless belt will also generate a large friction force between it and the pipe wall and the fixing plate. At a position far from the supporting fixture, the chain in contact with the endless belt will also fit tightly on the endless belt of elastic material, thereby ensuring that the chain will not slip and will not contact the crawler components on both sides.

[0054] It can be understood that the left and right sets of circular tracks 1 and the corresponding V-shaped protrusions 2d can support the rotating shaft 2c at both ends, thereby significantly improving the stability of the welding platform 2 and reducing the bumps during the movement process.

[0055] like Figure 1 , Figure 4 and Figure 6 As shown, in this embodiment, the rotary drive mechanism 3 includes an epicyclic motor 3a and an electric control box 3b electrically connected to the epicyclic motor 3a, and the output shaft of the epicyclic motor 3a is fixedly connected to the sprocket 4. Specifically, the electric control box 3b is used to integrate the control of each motor to achieve precise regulation of the epicyclic motor 3a, and the epicyclic motor 3a directly drives the sprocket 4 to rotate, so as to drive the welding platform 2 to perform a circular motion around the pipe.

[0056] like Figure 7 As shown, in this embodiment, the bottom of the crawler assembly 1a is slidably connected with a scissor-type bracket 13, and a spring 14 is arranged inside the scissor-type bracket 13. Specifically, the scissor-type bracket 13 and the spring 14 will make the circumferential crawler 1 press against the pipe, thereby playing the role of high-friction clamping the pipe, thereby improving the reliability of the circumferential crawler 1 after installation.

[0057] When the sprocket 4 is continuously meshed with the chain 6 to drive the welding platform 2 to move, the rotating shaft 2c between the bosses 2b with the V-shaped protrusion 2d is continuously embedded in the V-shaped groove 1a1, so that the welding platform 2 can climb on the circular track 1 and finally form a circular motion.

[0058] In actual application, the crawler and the welding platform of this embodiment cooperate with each other. When working, the rotary drive mechanism 3 drives the sprocket 4 to rotate, and the sprocket 4 engages with the chain 6, thereby driving the welding platform 2 to move around the circumference of the pipeline along the circular crawler 1. The operation is stable, firm and reliable, and the ability to resist environmental interference is strong, thereby improving the accuracy of welding.

[0059] Before the welding process or after the welding process is paused, the position of the support fixture can be adjusted by adjusting the position of the fixing plate 17 on the annular belt as needed, so that the movement trajectory of the welding platform can cover the entire circumference of the pipeline. On this basis, multiple support fixtures can be set to isolate the chain from the crawler, the annular belt and the pipe wall at multiple positions around the pipeline to avoid strong friction.

[0060] In this embodiment, the supporting fixture and the chain are preferably movably sleeved, so when adjusting the position of the supporting fixture, there is no need to adjust the meshing position of the chain and the sprocket, otherwise the meshing position of the chain and the sprocket needs to be adjusted simultaneously.

[0061] When the supporting fixture and the chain are set in a movable sleeve, and the welding platform gradually approaches the supporting fixture, the angle between the chain and the normal direction of the supporting fixture position point becomes larger, and the pressure of the chain on the supporting fixture becomes smaller. The thrust of the welding platform on the supporting fixture will be able to push the supporting fixture and the fixing plate to move on the annular belt, so that the supporting fixture will not hinder the circumferential movement of the welding platform. If other supporting fixtures are provided at this time, the other supporting fixtures and the chain are still in a compressed state, and the chain can continue to be kept from slipping. If there are no other supporting fixtures, the chain part opposite to the current position of the welding platform and the annular belt are still in a compressed state, and the chain can still be kept from slipping outside the pipe wall.

[0062] like Figure 6 As shown, the chain 6 is provided with a connection block 16 for adjusting the tightness of the chain 6. The head and tail of the chain 6 are connected by the connection block 16 to form a ring structure. The tightness of the chain 6 can be changed accordingly by adjusting the connection position.

[0063] In actual water conservancy pipeline welding application, the diameter of the circumferential crawler 1 can be adjusted according to the actual pipe diameter, so that the device has excellent generalization of use.

[0064] In order to achieve axial welding of the pipeline, in this embodiment, a linear drive module 7 is provided on one side of the welding platform 2, and a reciprocating connecting rod 8 is provided at the output end of the linear drive module 7. A pitch connecting rod 9 is hinged at one end of the reciprocating connecting rod 8 away from the linear drive module 7, and a pitch driving mechanism 10 is provided on the reciprocating connecting rod 8. The pitch driving mechanism 10 is transmission-connected to the pitch connecting rod 9 for driving the pitch connecting rod 9 to rotate around the hinge point.

[0065] It can be understood that the linear drive module 7 is used to drive all the structures in the front to make linear motion along the pipe wall, the reciprocating connecting rod 8 keeps the welding module 18 away from the displacement mechanism to avoid the influence of welding on it, and the pitch drive mechanism 10 drives the pitch connecting rod 9 to rotate around the hinge point, so that the welding module 18 at the front end can perform circular motion and linear motion at the same time. The combination of the two can realize movement of any trajectory as needed.

[0066] A welding module 18 is provided at one end of the pitch link 9 away from the reciprocating link 8. The welding module 18 includes a welding gun 18a, a fixing frame 18b sleeved on the welding gun 18a, a pneumatic muscle 18c provided at the bottom of the fixing frame 18b, and a torsion motor 18d provided on the pitch link 9. One end of the pneumatic muscle 18c away from the fixing frame 18b is fixedly connected to the output shaft of the torsion motor 18d.

[0067] It should be noted that there are multiple pneumatic muscles 18c, three in the present embodiment; different numbers can be selected depending on actual use requirements and the size of the pneumatic muscles 18c used.

[0068] Specifically, the torsion motor 18d can adjust the rotation of the welding gun 18a on the longitudinal axis of the water conservancy pipeline. After a certain amount of inflation, the pneumatic tendon 18c has the mechanical properties of human muscle contraction, tension, stretching, and bending, so that the welding gun 18a can be fine-tuned. Since the welding gun 18a is connected to the entire welding platform 2 in a flexible rather than rigid manner, it can stably adapt to various welding disturbances encountered by the head of the welding gun 18a, ensuring high-quality welding results.

[0069] Embodiment 3:

[0070] This embodiment introduces a full-path water conservancy pipeline welding device, which is different from the embodiment 2 in that Figure 3 As shown, the supporting fixture is fixed or detachably fixed between the two sets of crawlers, and two of them are symmetrically arranged.

[0071] When this embodiment is used, the device can weld the pipe wall twice. Before welding, the positions of the two supporting fixtures are fixed. For example, the two supporting fixtures are symmetrically arranged relative to a radial line of the pipe cross section, and the two supporting fixtures divide the entire chain into two parts. Each time welding, the sprocket of the welding platform can be engaged with the chain on one side to weld the pipe wall on the corresponding side, and the two weldings can complete the omnidirectional welding of the pipe.

[0072] The installation position of the two supporting fixtures in the detachable fixed installation mode is preferably such that the central angle of the line connecting the two supporting fixtures and the center of the pipe cross section is an acute angle. The two supporting fixtures divide the entire chain into two long and short parts. The position of the supporting fixtures is adjusted between two weldings. The sprocket of the welding platform can be meshed with the chain on the longer side for each welding to weld the pipe wall on the corresponding side. The circumferential coverage of the two weldings is much larger than the circumference of the pipe, ensuring that no pipe surface cannot be welded.

[0073] Embodiment 4:

[0074] like Figure 6 As shown, this embodiment provides a full-path water conservancy pipeline automatic welding device. On the basis of embodiments 1 to 3, this embodiment is provided with a support wheel 19 for supporting the chain 6 on the side wall of the workbench 2a.

[0075] Specifically, the welding module 18 can support the chain 6, so that the chain 6 and the sprocket 4 are more closely engaged, thereby improving the stability of the movement of the device.

[0076] In this embodiment, the pitch driving mechanism 10 is a pitch motor, and the output shaft of the pitch motor is coaxially arranged with the hinge point of the pitch link 9 and fixedly connected.

[0077] When in use, the pitch motor drives the pitch link 9 to rotate around the hinge point, thereby driving the welding module 18 to perform circular motion.

[0078] It should be noted that the pitch drive mechanism 10 is not limited to a pitch motor, but can be an electric telescopic rod, a hydraulic cylinder and other components, one end of which is hinged to the pitch link 9, and the other end is hinged to the reciprocating link 8, thereby forming a triangular support structure, which can also drive the pitch link 9 to rotate and can be adjusted according to actual application conditions without specific limitation.

[0079] like Figure 2 As shown, in this embodiment, the fixing frame 18b is L-shaped, and a through hole for fixing the welding gun 18a is provided on the vertical plate of the fixing frame 18b, and a fixing hole for connecting the pneumatic muscle 18c is provided on the horizontal plate of the fixing frame 18b.

[0080] Specifically, the vertical plate of the fixing frame 18b is fixedly mounted on the welding gun 18a by means of a through hole, and the horizontal plate of the fixing frame 18b is fixedly connected to the pneumatic muscle 18c by means of a fixing hole, thereby improving the stability of the connection.

[0081] like Figure 5 As shown, a connecting platform is provided at one end of the reciprocating link 8 away from the pitch link 9, and the connecting platform and the sliding platform at the output end of the linear drive module 7 are connected by bolts, thereby improving the stability of the connection of the reciprocating link 8.

[0082] It should be noted that the electrical and pneumatic control logics of the pneumatic muscle 18c, the pitch drive mechanism 10, the torsion motor 18d, the epicyclic motor 3a, the linear drive module 7 and the support rod 11 work according to preset parameters or operate according to adaptive calculation results. When the present technology is actually used, due to the different welding trajectories and pipe diameters, the moving trajectory of the front end of the welding gun 18a requires different input parameters to control the circular motion of the rotary motor 3a, the linear motion of the linear drive module 7, the welding point height of the pitch drive mechanism 10 and the torsion motor 18d, as well as the fine-tuning and robustness improvement of the support rod 11 and the pneumatic muscle 18c. These controls are implemented through technical means in this field and can be achieved through preset parameters. Of course, combined with adaptive algorithms, such as edge extraction of the image and then trajectory planning, this is also not difficult and can be specifically implemented on this device. That is, in the full-path water conservancy pipeline automatic welding device in some embodiments, the so-called "automatic" means that the device can control the rotary motor and the torsion motor according to preset parameters to achieve full-path pipeline welding of the corresponding trajectory. This can be achieved using existing technologies and will not be elaborated on.

[0083] The above are only preferred implementations of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A full-path water conservancy pipeline automatic welding device, characterized in that: include: A circumferential crawler (1) and a welding platform (2) capable of moving along the circumferential crawler (1), the welding platform (2) being provided with a rotary drive mechanism (3), the output end of the rotary drive mechanism (3) being drivingly connected to a sprocket (4), the circumferential crawler (1) being provided with a supporting fixture (5), the supporting fixture (5) being provided with a chain (6), the chain (6) being annularly sleeved outside the circumferential crawler (1) and meshing with the sprocket (4); A linear drive module (7) is provided on one side of the welding platform (2); a reciprocating connecting rod (8) is provided at the output end of the linear drive module (7); a pitch connecting rod (9) is hingedly connected to one end of the reciprocating connecting rod (8) away from the linear drive module (7); a pitch driving mechanism (10) is provided on the reciprocating connecting rod (8); the pitch driving mechanism (10) is in driving connection with the pitch connecting rod (9) and is used to drive the pitch connecting rod (9) to rotate around a hinge point; A welding module (18) is provided at one end of the pitch link (9) away from the reciprocating link (8), the welding module (18) comprising a welding gun (18a), a fixing frame (18b) sleeved on the welding gun (18a), a pneumatic tendon (18c) provided at the bottom of the fixing frame (18b), and a torsion motor (18d) provided on the pitch link (9), and one end of the pneumatic tendon (18c) away from the fixing frame (18b) is fixedly connected to the output shaft of the torsion motor (18d).

2. The full-path hydraulic pipeline automatic welding device according to claim 1 is characterized in that: The welding platform (2) comprises a workbench (2a), bosses (2b) provided on both sides of the bottom of the workbench (2a), a rotating shaft (2c) rotatably connected between the bosses (2b), and a plurality of V-shaped protrusions (2d) provided on the circumferential outer wall of the rotating shaft (2c); the circumferential track (1) is formed by connecting a plurality of track assemblies (1a); the track assemblies (1a) are provided with V-shaped grooves (1a1) adapted to the V-shaped protrusions (2d), so that the welding platform (2) can be displaced along the circumferential track (1).

3. The full-path hydraulic pipeline automatic welding device according to claim 1 is characterized in that: A support rod (11) is provided on the side of the reciprocating connecting rod (8) close to the water conservancy pipeline, and a universal wheel (12) is provided at the end of the support rod (11).

4. The full-path hydraulic pipeline automatic welding device according to claim 1 is characterized in that: The rotary drive mechanism (3) comprises an epicyclic motor (3a) and an electric control box (3b) electrically connected to the epicyclic motor (3a); the output shaft of the epicyclic motor (3a) is fixedly connected to a sprocket (4).

5. The full-path hydraulic pipeline automatic welding device according to claim 2 is characterized in that: A scissor-type bracket (13) is slidably connected to the bottom of the crawler track assembly (1a), and a spring (14) is provided inside the scissor-type bracket (13).

6. The full-path hydraulic pipeline automatic welding device according to claim 2 is characterized in that: The circumferential crawler belt (1) is provided with two groups, and an annular belt (15) is provided between the two groups of the circumferential crawler belt (1), and the surface of the annular belt (15) is an elastic and smooth surface.

7. The full-path hydraulic pipeline automatic welding device according to claim 6 is characterized in that: The chain (6) is provided with a connecting block (16) for adjusting the tightness of the chain (6), the annular belt (15) is movably provided with a fixing plate (17), the supporting fixture (5) is fixedly provided on the fixing plate (17), and the supporting fixture (5) is sleeved on the chain (6).

8. The full-path hydraulic pipeline automatic welding device according to claim 2 is characterized in that: Support wheels (19) for supporting the chain (6) are provided on the side walls of the workbench (2a).

9. The full-path hydraulic pipeline automatic welding device according to claim 1 is characterized in that: The pitch drive mechanism (10) is a pitch motor, and the output shaft of the pitch motor is coaxially arranged with the hinge point of the pitch link (9) and fixedly connected.

10. The full-path hydraulic pipeline automatic welding device according to claim 1 is characterized in that: The fixing frame (18b) is L-shaped, a through hole for fixing the welding gun (18a) is provided on the vertical plate of the fixing frame (18b), and a fixing hole for connecting the pneumatic tendon (18c) is provided on the horizontal plate of the fixing frame (18b).

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