Parallel type equal-diameter pipeline intersecting line welding device

Abstract

The utility model belongs to the technical field of pipeline welding, and provides a parallel type equal-diameter pipeline intersecting line welding device which is characterized in that a fixed platform and a movable platform are connected through a six-degree-of-freedom branch chain mechanism and two four-degree-of-freedom branch chain mechanisms; the six-degree-of-freedom branch chain mechanism is composed of two spherical hinges and a moving pair. The four-degree-of-freedom branch chain mechanisms of the two branch chains are the same in structure and each of the four-degree-of-freedom branch chain mechanisms is composed of a moving pair, a parallelogram mechanism and two rotating pairs with the axes intersecting at the rotating center. When the four revolute pairs in the two four-degree-of-freedom branch chain mechanisms are coplanar, the revolute pair, close to the fixed platform, in one branch chain mechanism is coaxial with the revolute pair, close to the movable platform, in the other branch chain mechanism, the four revolute pairs form two sets of coaxial revolute pairs, and the two sets of coaxial axes are two fixed rotating shaft operation modes of the welding device. Two intersecting line welding seams formed by intersecting two equal-diameter pipelines can be respectively welded in each fixed rotating shaft operation mode; the device has the advantages of high precision, high bearing capacity, high strength, small accumulative error and the like.

Description

Technical Field

[0001] The utility model belongs to the technical field of pipeline welding, and relates to the welding of the intersection line of equal-diameter pipelines. Specifically, it is a parallel equal-diameter pipeline intersection line welding device. Background Technique

[0002] Nowadays, pipelines need to be welded in many construction processes, and many pipeline intersection lines need to be welded. Manual welding has high requirements for the experience and skills of welders. Due to the uneven skills of welders, it is not easy to ensure the accuracy of the welding process. In order to ensure the accuracy of the welding process, many welding devices have been designed. Among them, the welding devices for two pipeline intersection lines mostly adopt a series structure. Even if a parallel structure is adopted, it is mainly for the welding of one intersection line and cannot weld the intersection lines of two equal-diameter pipelines. In the welding working conditions of heavy pipelines or equal-diameter pipelines where it is not convenient to change the pipeline position, there is a lack of a device that can weld the welds of two intersection lines. Content of the Utility Model

[0003] The purpose of the utility model is to provide a parallel equal-diameter pipeline intersection line welding device, which can realize the welding of the welds of two intersection lines formed after the intersection of two equal-diameter pipelines.

[0004] The technical solution adopted by the utility model to achieve the above purpose is:

[0005] A parallel equal-diameter pipeline intersection line welding device includes a fixed platform and a moving platform. A positioning block is arranged on the fixed platform for placing and positioning the pipeline to be welded. A six-degree-of-freedom linkage, a four-degree-of-freedom linkage one, and a four-degree-of-freedom linkage two are also arranged on the fixed platform. The moving platform is connected to the fixed platform through the six-degree-of-freedom linkage, the four-degree-of-freedom linkage one, and the four-degree-of-freedom linkage two. The welding torch is connected to the moving platform.

[0006] Further, the positioning block is composed of two cross-shaped V-shaped brackets.

[0007] Further, the six-degree-of-freedom linkage includes a six-degree-of-freedom linkage moving pair, a spherical hinge one, and a spherical hinge two. The spherical hinge one and the spherical hinge two are respectively arranged at both ends of the six-degree-of-freedom linkage moving pair. The spherical hinge one is connected to the fixed platform, and the spherical hinge two is connected to the midpoint of the moving platform.

[0008] Further, the four-degree-of-freedom linkage one and the four-degree-of-freedom linkage two have the same structure, including a four-degree-of-freedom linkage moving pair, a parallelogram mechanism, and two rotating pairs on the fixed platform side and two rotating pairs on the moving platform side with intersecting axes.

[0009] Among them, the parallelogram mechanism includes an upper connecting rod, a lower connecting rod, and two intermediate connecting rods connecting the upper connecting rod and the lower connecting rod. The four connecting rods are connected by four parallelogram rotating pairs with parallel axes; the moving pair of the four-degree-of-freedom branch chain is vertically and fixedly connected to the lower connecting rod of the parallelogram mechanism through a connecting rod; the moving direction of the moving pair of the four-degree-of-freedom branch chain is parallel to the axis of the parallelogram rotating pair. The upper connecting rod of the parallelogram mechanism is connected to the rotating pair on the fixed platform side of the branch chain through a straight connecting rod and an arc connecting rod I. The straight connecting rod is vertically and fixedly connected to the upper connecting rod of the parallelogram mechanism, and the rod length of the straight connecting rod is half of the rod length of the upper connecting rod; the included angle between the straight connecting rod and the axis of the rotating pair on the fixed platform side of the branch chain is 45°. The rotating pair on the fixed platform side of the branch chain is connected to the rotating pair on the moving platform side of the branch chain through an arc connecting rod II, and the axes of the rotating pair on the fixed platform side of the branch chain and the rotating pair on the moving platform side of the branch chain are perpendicular.

[0010] Further, the sliding directions of the moving pairs of the four-degree-of-freedom branch chain I and the four-degree-of-freedom branch chain II are perpendicular to each other.

[0011] Further, when the device is in the initial configuration, the four axes of the rotating pairs on the fixed platform side and the rotating pairs on the moving platform side of the four-degree-of-freedom branch chain I and the four-degree-of-freedom branch chain II are coplanar, and the plane formed by the four axes is parallel to the fixed platform. The vertical distance from the plane formed by the four axes to the geometric center of the moving platform is equal to the vertical distance from the upper connecting rod to the lower connecting rod of the parallelogram mechanism; the distance from the intersection point of the four axes to the V-shaped inclined plane of the positioning block is equal to the vertical distance from the upper connecting rod to the lower connecting rod of the parallelogram; the rotating pair on the fixed platform side of the four-degree-of-freedom branch chain I and the rotating pair on the moving platform side of the four-degree-of-freedom branch chain II are coaxial, and the rotating pair on the moving platform side of the four-degree-of-freedom branch chain mechanism I and the rotating pair on the fixed platform side of the four-degree-of-freedom branch chain II are coaxial.

[0012] Further, the welding torch is connected to the moving platform at the rotating pair on the moving platform side of the branch chain.

[0013] Compared with the prior art, the beneficial effects of the present utility model are:

[0014] This device has two fixed-axis operation modes, and each operation mode can weld a girth weld formed by the intersection of two equal-diameter pipes.

[0015] For heavy pipes or working conditions where it is inconvenient to change the pipe position, this device for welding two welds is very convenient.

[0016] The mechanism of this device belongs to a parallel mechanism. Compared with the existing series mechanism, it has the advantages of high precision, high load-bearing capacity, high strength, and small cumulative error. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the device of the present utility model;

[0018] Figure 2 It is a schematic structural diagram of the six-degree-of-freedom branch chain mechanism in the present utility model;

[0019] Figure 3 It is a schematic structural diagram of the first four-degree-of-freedom branch chain mechanism in the present utility model;

[0020] Figure 4 It is a schematic structural diagram of the parallelogram mechanism in the present utility model;

[0021] Figure 5 It is a schematic structural diagram of the second four-degree-of-freedom branch chain mechanism in the present utility model;

[0022] Figure 6 It is a schematic diagram of the first welding mode in the operation mode of the present utility model;

[0023] Figure 7 It is a schematic diagram of the second welding mode in the operation mode of the present utility model;

[0024] In the figure, 1 is a fixed platform; 2 is a moving platform; 3 is a positioning block; 4 is a first connecting rod; 5 is a six-degree-of-freedom branch chain mechanism; 6 is the first four-degree-of-freedom branch chain mechanism; 7 is the second four-degree-of-freedom branch chain mechanism; 8 is a welding torch; 9 is a six-degree-of-freedom branch chain moving pair; 10 is a first spherical hinge; 11 is a second spherical hinge; 12 is a second arc connecting rod; 13 is a first four-degree-of-freedom branch chain moving pair; 14 is a first parallelogram mechanism; 15 is a first rotating pair on the fixed platform side of the branch chain; 16 is a first rotating pair on the moving platform side of the branch chain; 17 is an upper connecting rod; 18 is a lower connecting rod; 19 is a first intermediate connecting rod; 20 is a second intermediate connecting rod; 21 is a first parallelogram rotating pair; 22 is a second parallelogram rotating pair; 23 is a third parallelogram rotating pair; 24 is a fourth parallelogram rotating pair; 25 is a first straight connecting rod; 26 is a first arc connecting rod; 27 is a second four-degree-of-freedom branch chain moving pair; 28 is a second parallelogram mechanism; 29 is a second rotating pair on the fixed platform side of the branch chain; 30 is a second rotating pair on the moving platform side of the branch chain; 31 is a second straight connecting rod; 32 is a second arc connecting rod; 33 is a first weld seam; 34 is a second weld seam; 35 is a second connecting rod; 36 is a fourth arc connecting rod. Detailed implementation manners

[0025] The following further describes the present invention with reference to the accompanying drawings:

[0026] A parallel equal-diameter pipe intersection welding device, as Figure 1 shown, includes a fixed platform 1 and a moving platform 2. The fixed platform 1 is a flat plate, and a positioning block 3 is arranged on the fixed platform 1. The positioning block 3 is composed of two cross-shaped V-shaped brackets and is used for placing and positioning the pipe to be welded. A six-degree-of-freedom branch chain 5, a first four-degree-of-freedom branch chain 6, and a second four-degree-of-freedom branch chain 7 are also arranged on the fixed platform 1; the moving platform 2 is an arc rod, and the moving platform 2 is connected to the fixed platform through the six-degree-of-freedom branch chain 5, the first four-degree-of-freedom branch chain 6, and the second four-degree-of-freedom branch chain 7.

[0027] The six-degree-of-freedom branch chain 5, as Figure 2 shown, includes a six-degree-of-freedom branch chain sliding pair 9, a spherical hinge one 10 and a spherical hinge two 11. The spherical hinge one 10 and the spherical hinge two 11 are respectively arranged at both ends of the six-degree-of-freedom branch chain sliding pair 9. The spherical hinge one 10 is connected to the fixed platform 1, and the spherical hinge two 11 is connected to the midpoint of the moving platform 2.

[0028] The four-degree-of-freedom branch chain one 6 and the four-degree-of-freedom branch chain two 7 have the same structure. The four-degree-of-freedom branch chain one 6, as Figure 3 shown, includes a four-degree-of-freedom branch chain sliding pair one 13, a parallelogram mechanism one 14, and two branch chain fixed-platform-side rotating pairs one 15 and branch chain moving-platform-side rotating pairs one 16 whose axes intersect at the rotation center;

[0029] Among them, the parallelogram mechanism one 14, as Figure 4 shown, includes an upper connecting rod 17, a lower connecting rod 18, an intermediate connecting rod one 19 and an intermediate connecting rod two 20 connecting the upper connecting rod 17 and the lower connecting rod 18. The upper connecting rod 17, the lower connecting rod 18, the intermediate connecting rod one 19 and the intermediate connecting rod two 20 are respectively connected by parallelogram rotating pairs one 21, parallelogram rotating pairs two 22, parallelogram rotating pairs three 23 and parallelogram rotating pairs four 24 with parallel axes;

[0030] The four-degree-of-freedom branch chain sliding pair one 13 is vertically and fixedly connected to the lower connecting rod 18 of the parallelogram mechanism one 14 through a connecting rod one 4. The four-degree-of-freedom branch chain sliding pair one 13 is slidably connected to the fixed platform. The sliding direction of the four-degree-of-freedom branch chain sliding pair one 13 is parallel to the axis of the rotating pair in the parallelogram mechanism. The upper connecting rod 17 of the parallelogram mechanism one 14 is connected to the branch chain fixed-platform-side rotating pair one 15 whose axes intersect at the rotation center through a straight connecting rod one 25 and an arc connecting rod one 26. The straight connecting rod one 25 is vertically and fixedly connected to the upper connecting rod 17 of the parallelogram mechanism one 14, and the rod length of the straight connecting rod one 25 is equal to the rod length of the upper connecting rod 17; The straight connecting rod one 25 is connected to the branch chain fixed-platform-side rotating pair one 15 through the arc connecting rod one 26. The axis angle between the straight connecting rod one 25 and the branch chain fixed-platform-side rotating pair one 15 whose axes intersect at the rotation center is 45°. The branch chain fixed-platform-side rotating pair one 15 and the branch chain moving-platform-side rotating pair one 16 are connected by an arc connecting rod two 12. The axes of the branch chain fixed-platform-side rotating pair one 15 and the branch chain moving-platform-side rotating pair one 16 are perpendicular.

[0031] The four-degree-of-freedom branch chain two 7, as Figure 5 shown, includes a four-degree-of-freedom branch chain sliding pair two 27, a parallelogram mechanism two 28, and two branch chain fixed-platform-side rotating pairs two 29 and branch chain moving-platform-side rotating pairs two 30 whose axes intersect at the rotation center;

[0032] The translational pair two 27 of the four-degree-of-freedom branch chain is vertically and fixedly connected to the lower connecting rod of the parallelogram mechanism two 28 through the connecting rod two 35. The moving direction of the translational pair two 27 of the four-degree-of-freedom branch chain is parallel to the axis of the rotational pair in the parallelogram mechanism of the parallelogram mechanism two 28. The upper connecting rod of the parallelogram mechanism two 28 is connected to the rotational pair two 29 on the fixed platform side of the branch chain through the straight connecting rod two 31 and the arc connecting rod three 32. The straight connecting rod two 31 is vertically and fixedly connected to the upper connecting rod of the parallelogram mechanism two 28. The rod length of the straight connecting rod two 31 is half of the rod length of the upper connecting rod of the parallelogram mechanism two 28. The angle between the axis of the straight connecting rod two 31 and the axis of the rotational pair two 29 on the fixed platform side of the branch chain that intersects at the rotation center is 45°. The rotational pair two 29 on the fixed platform side of the branch chain and the rotational pair two 30 on the moving platform side of the branch chain are connected through the arc connecting rod four 36. The axes of the rotational pair two 29 on the fixed platform side of the branch chain and the rotational pair two 30 on the moving platform side of the branch chain are perpendicular.

[0033] The sliding directions of the translational pair 13 of the four-degree-of-freedom branch chain one 6 and the translational pair 27 of the four-degree-of-freedom branch chain two 7 are perpendicular to each other.

[0034] The axes of the rotational pair one 15 on the fixed platform side of the four-degree-of-freedom branch chain one 6, the rotational pair one 16 on the moving platform side of the four-degree-of-freedom branch chain one 6, the rotational pair two 29 on the fixed platform side of the four-degree-of-freedom branch chain two 7, and the rotational pair two 30 on the moving platform side of the four-degree-of-freedom branch chain two 7 are coplanar. And the plane formed by the four axes is parallel to the fixed platform 1. The vertical distance from the plane formed by the four axes to the geometric center of the moving platform 2 is equal to the vertical distance from the upper connecting rod to the lower connecting rod of a parallelogram mechanism. The distance from the intersection point of the four rotational pair axes to the V-shaped inclined plane of the positioning block is equal to the perpendicular distance from the upper connecting rod to the lower connecting rod of the parallelogram.

[0035] The rotational pair one 15 on the fixed platform side of the four-degree-of-freedom branch chain mechanism one 6 and the rotational pair two 30 on the moving platform side of the four-degree-of-freedom branch chain mechanism two 7 are coaxial. The rotational pair one 16 on the moving platform side of the four-degree-of-freedom branch chain mechanism one 6 and the rotational pair two 29 on the fixed platform side of the four-degree-of-freedom branch chain mechanism two 7 are coaxial. The two coaxial axes are the rotating shafts of the two fixed rotating shaft operation modes of the device. Under each fixed rotating shaft operation mode, the welds of the two intersecting lines formed by welding two equal-diameter pipes can be welded respectively.

[0036] The welding torch 8 is connected to the moving platform 2 at the rotational pair one 16 on the moving platform side of the branch chain, or the welding torch 8 is connected to the moving platform 2 at the rotational pair two 30 on the moving platform side of the branch chain, and can be installed and disassembled as needed.

[0037] Operation Mode 1: By activating the six-degree-of-freedom branch moving pair 9, the device is positioned at the initial position, i.e., the axes of the first rotating pair on the fixed platform side of the branch 15, the first rotating pair on the moving platform side of the branch 16, the second rotating pair on the fixed platform side of the branch 29, and the second rotating pair on the moving platform side of the branch 30 are coplanar; the welding torch 8 is connected to the moving platform 2 at the first rotating pair 16 on the moving platform side of the branch, and the end of the welding torch 8 points to the intersection of the axes of the first rotating pair 15 on the fixed platform side of the branch and the first rotating pair 16 on the moving platform side of the branch. Place two pipes to be welded with equal diameters, i.e., the first pipe to be welded 31 and the second pipe to be welded 32, in the positioning block 3, lock the second rotating pair 29 on the fixed platform side of the branch, drive the six-degree-of-freedom branch moving pair 9, and after the mechanism leaves the initial position, simultaneously drive the four-degree-of-freedom branch moving pair 13. The movement of the moving platform 2 drives the welding torch 8 to operate, and the welding of a first intersection line weld 33 is completed.

[0038] Operation Mode 2: After the weld 33 is welded, by activating the six-degree-of-freedom branch moving pair 9, the device is restored to the initial position. Connect the welding torch 8 to the moving platform 2 at the second rotating pair 30 on the moving platform side of the branch, and the end of the welding torch 8 points to the intersection of the axes of the second rotating pair 29 on the fixed platform side of the branch and the second rotating pair 30 on the moving platform side of the branch. The positions of the first pipe to be welded 31 and the second pipe to be welded 32 remain unchanged. Lock the first rotating pair 15 on the fixed platform side of the branch. At this time, drive the six-degree-of-freedom branch moving pair 9, and after the device leaves the initial position, simultaneously drive the four-degree-of-freedom branch moving pair 13. The movement of the moving platform 2 drives the welding torch 8 to operate, and the welding of a second intersection line weld 34 is completed.

[0039] For heavy pipes or pipes that have already been installed, a device that can weld two intersection line welds with the pipe position unchanged is more applicable; moreover, this device belongs to a parallel mechanism. Compared with the existing serial mechanism, this device has higher welding accuracy, better load-bearing capacity and strength, and smaller cumulative error.

Claims

1. A parallel equal-diameter pipe intersection welding device, characterized in that: It includes a fixed platform and a moving platform. A positioning block is arranged on the fixed platform for placing and positioning the pipeline to be welded. A six-degree-of-freedom linkage, a four-degree-of-freedom linkage I, and a four-degree-of-freedom linkage II are also arranged on the fixed platform. The moving platform is connected to the fixed platform through the six-degree-of-freedom linkage, the four-degree-of-freedom linkage I, and the four-degree-of-freedom linkage II. The welding torch is connected to the moving platform.

2. The parallel equal-diameter pipe intersection line welding device according to claim 1, characterized in that: The positioning block is composed of two V-shaped brackets that cross each other.

3. The parallel equal-diameter pipe intersection line welding device according to claim 1, characterized in that: The six-degree-of-freedom linkage includes a six-degree-of-freedom linkage moving pair, a spherical hinge I, and a spherical hinge II. The spherical hinge I and the spherical hinge II are respectively arranged at both ends of the six-degree-of-freedom linkage moving pair. The spherical hinge I is connected to the fixed platform, and the spherical hinge II is connected to the midpoint of the moving platform.

4. A parallel equal-diameter pipe intersection line welding device according to claim 1, characterized in that: The four-degree-of-freedom linkage I and the four-degree-of-freedom linkage II have the same structure, including a four-degree-of-freedom linkage moving pair, a parallelogram mechanism, and a linkage fixed-platform-side rotating pair and a linkage moving-platform-side rotating pair whose axes intersect.

5. The parallel equal-diameter pipe intersection welding device according to claim 4, characterized in that: The parallelogram mechanism includes an upper connecting rod, a lower connecting rod, and two intermediate connecting rods connecting the upper connecting rod and the lower connecting rod. The upper connecting rod, the lower connecting rod, and the two intermediate connecting rods are connected by four parallelogram rotating pairs with parallel axes; the four-degree-of-freedom linkage moving pair is vertically and fixedly connected to the lower connecting rod of the parallelogram mechanism through a connecting rod. The four-degree-of-freedom linkage moving pair is slidably connected to the fixed platform, and the sliding direction of the four-degree-of-freedom linkage moving pair is parallel to the axis of the parallelogram rotating pair; the upper connecting rod of the parallelogram mechanism is connected to the linkage fixed-platform-side rotating pair through a straight connecting rod and an arc connecting rod I. The straight connecting rod is vertically and fixedly connected to the upper connecting rod of the parallelogram mechanism. The rod length of the straight connecting rod is half of the rod length of the upper connecting rod. The angle between the axis of the straight connecting rod and the axis of the linkage fixed-platform-side rotating pair is 45°. The linkage fixed-platform-side rotating pair and the linkage moving-platform-side rotating pair are connected by an arc connecting rod II. The axes of the linkage fixed-platform-side rotating pair and the linkage moving-platform-side rotating pair are perpendicular.

6. The parallel equal-diameter pipe intersection line welding device according to claim 5, characterized in that: The sliding directions of the four-degree-of-freedom linkage moving pairs of the four-degree-of-freedom linkage I and the four-degree-of-freedom linkage II are perpendicular to each other.

7. A parallel equal-diameter pipe intersection line welding device according to claim 6, characterized in that: When the device is in the initial configuration, the four axes of the linkage fixed-platform-side rotating pair and the linkage moving-platform-side rotating pair of the four-degree-of-freedom linkage I and the four-degree-of-freedom linkage II are coplanar, and the plane formed by the four axes is parallel to the fixed platform. The vertical distance from the plane formed by the four axes to the geometric center of the moving platform is equal to the vertical distance from the upper connecting rod to the lower connecting rod of the parallelogram mechanism; the distance from the intersection point of the four axes to the V-shaped inclined plane of the positioning block is equal to the vertical distance from the upper connecting rod to the lower connecting rod of the parallelogram; the linkage fixed-platform-side rotating pair of the four-degree-of-freedom linkage I and the linkage moving-platform-side rotating pair of the four-degree-of-freedom linkage II are coaxial, and the linkage moving-platform-side rotating pair of the four-degree-of-freedom linkage I and the linkage fixed-platform-side rotating pair of the four-degree-of-freedom linkage II are coaxial.

8. A parallel equal-diameter pipe intersection line welding device according to claim 7, characterized in that: The welding torch is connected to the moving platform at the linkage moving-platform-side rotating pair.

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