CN115008076A - Traveling system for in-pipeline welding machine and in-pipeline welding machine - Google Patents

Abstract

The invention discloses a walking system for a pipeline internal welding machine and the pipeline internal welding machine, wherein the walking system comprises: moving the frame; the fixed plate is vertically arranged on the movable frame; the lateral walking wheel assemblies are respectively arranged on two sides of the fixing plate and comprise a rotating frame and lateral walking wheels, one end of the rotating frame is rotatably connected with the fixing plate, the lateral walking wheels are arranged on the vertical pivot shaft along the horizontal direction, and the other end of the rotating frame is connected with the vertical pivot shaft; the tight mechanism in top, the tight mechanism in top include first flexible subassembly and connecting piece, and first flexible subassembly is fixed with the fixed plate, and the one end of connecting piece and the flexible end of first flexible subassembly rotate to be connected, and the other end and the vertical pivot hub connection of connecting piece. The walking system for the welding machine in the pipeline and the welding machine in the pipeline can effectively prevent the welding machine in the pipeline from sliding down when the welding machine runs on a downhill, and the safety performance of the welding machine in the pipeline is improved.

Description

Traveling system for in-pipeline welding machine and in-pipeline welding machine

Technical Field

The invention relates to the technical field of in-pipeline welding machines, in particular to a walking system for an in-pipeline welding machine and the in-pipeline welding machine.

Background

At present, automatic welding equipment is mostly needed to be used for carrying out automatic construction welding on pipelines in the long-distance pipeline construction process at home and abroad, the adoption of an automatic welding construction process for a long-distance pipeline is accepted by wide construction enterprises, especially, the automatic construction welding for the pipelines by adopting a pipeline internal welding machine not only improves the welding quality, but also improves the welding efficiency, and creates good in-pipe conditions for later pipeline maintenance and detection. However, most of the existing in-pipeline welding machines are used in plain terrains, strict scene requirements are provided for the radius of a bent pipe of a pipeline, and the adaptability of a terrain scene of multiple bent pipes (the minimum bent pipe is up to 6D, and D is the outer diameter of the pipeline) in a mountainous area is low, so that the strict scene requirements for the radius of the bent pipe of the pipeline and the popularization rate of an automatic welding process of long-distance pipelines in the mountainous area are low.

The side direction walking wheel of welding machine keeps away from the pipeline inner wall under the drive normality in current pipeline, opens to stop to strike great, can not play the effect of damping braking, leads to the pipeline in the welding machine to appear gliding when downhill path moves easily, has great safe risk.

Disclosure of Invention

The invention aims to provide a walking system for a pipeline internal welding machine and the pipeline internal welding machine, which can effectively prevent the pipeline internal welding machine from sliding down when running on a downhill and improve the safety performance of the pipeline internal welding machine.

In order to achieve the above object, a first aspect of the present invention provides a traveling system for an in-pipe welder, the traveling system comprising:

moving the frame;

the fixed plate is vertically arranged on the movable frame;

the lateral walking wheel assemblies are respectively arranged on two sides of the fixing plate and comprise a rotating frame and lateral walking wheels, one end of the rotating frame is rotatably connected with the fixing plate, the lateral walking wheels are arranged on the vertical pivot shaft along the horizontal direction, and the other end of the rotating frame is connected with the vertical pivot shaft;

the tight mechanism in top, the tight mechanism in top include first flexible subassembly and connecting piece, and first flexible subassembly is fixed with the fixed plate, and the one end of connecting piece and the flexible end of first flexible subassembly rotate to be connected, and the other end and the vertical pivot hub connection of connecting piece.

In an embodiment of the invention, the first telescopic assembly comprises a first telescopic cylinder fixed on the fixed plate and a push-out seat, the push-out seat is arranged at the extending end of the first telescopic rod of the first telescopic cylinder and is perpendicular to the first telescopic rod, and the radial tail end of the push-out seat is rotatably connected with the connecting piece.

In an embodiment of the invention, the first telescopic assembly further comprises a first gas spring and a second gas spring which are arranged at two sides of the first telescopic cylinder, fixed ends of the first gas spring and the second gas spring are fixed with a cylinder body of the first telescopic cylinder, and telescopic ends of the first gas spring and the second gas spring are fixed with the push-out seat.

In an embodiment of the invention, the walking system further comprises a brake mechanism arranged on the moving frame.

In an embodiment of the invention, the brake mechanism comprises a second telescopic component, a first brake shoe component and a second brake shoe component which are arranged on the moving frame and are perpendicular to the moving direction of the moving frame, the first brake shoe component is arranged at the fixed end of the second telescopic component through a first connecting rod, and the second brake shoe component is arranged at the telescopic end of the second telescopic component through a second connecting rod.

In an embodiment of the invention, the second telescopic assembly comprises a second telescopic cylinder and a push-out rod, the second telescopic cylinder is arranged on the moving frame and is perpendicular to the moving direction of the moving frame, the push-out rod is arranged at the extending end of a second telescopic rod of the second telescopic cylinder and is perpendicular to the second telescopic rod, and the second connecting rod is connected with the push-out rod.

In an embodiment of the invention, the second telescopic assembly further comprises a third gas spring and a fourth gas spring which are arranged at two sides of the second telescopic cylinder, fixed ends of the third gas spring and the fourth gas spring are fixed with a cylinder body of the second telescopic cylinder, and telescopic ends of the third gas spring and the fourth gas spring are fixed with the push-out rod.

In the embodiment of the invention, the first brake shoe assembly and the second brake shoe assembly respectively comprise a brake shoe mounting frame and a brake shoe arranged on the brake shoe mounting frame.

In an embodiment of the invention, the lateral road wheel comprises a rolling surface, a first lateral end surface and a second lateral end surface which are respectively positioned at two sides of the rolling surface, and the diameter of the first lateral end surface is different from that of the second lateral end surface.

The invention provides an in-pipe welder, which comprises the walking system for the in-pipe welder.

According to the technical scheme, the walking system is internally provided with a plurality of lateral walking wheel assemblies and a jacking mechanism, each lateral walking wheel assembly comprises a rotating frame and a lateral walking wheel, one end of each rotating frame is rotatably connected with a fixing plate, the lateral walking wheels are horizontally arranged and provided with vertical pivot shafts, and the other ends of the rotating frames are connected with the vertical pivot shafts; the tight mechanism in top includes first flexible subassembly and connecting piece, first flexible subassembly is fixed with the fixed plate, the one end of connecting piece and the flexible end of first flexible subassembly are rotated and are connected, the other end and the vertical pivotal axis of connecting piece are connected, it makes the rotating turret be in the state of expandeing completely to extend when first flexible subassembly, side direction walking wheel and the contact of the inner wall of pipeline side direction produce appropriate precompression to the inner wall of pipeline side direction, and then make traveling system have damping braking function, effectively prevent in the pipeline welding machine and produce the situation of gliding when walking under the downhill path environment, the security performance of welding machine in the pipeline has been promoted.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:

FIG. 1 is a schematic view of a first perspective structure of a walking system according to an embodiment of the present invention;

FIG. 2 is a second perspective view of the walking system of the embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a third perspective view of the walking system in the embodiment of the present invention;

FIG. 4 is a schematic view of a first perspective of a tightening mechanism according to an embodiment of the present invention;

FIG. 5 is a schematic diagram illustrating a second perspective view of a tightening mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of a brake mechanism according to an embodiment of the present invention;

FIG. 7 is a first perspective structural view of a side road wheel in an embodiment of the invention;

fig. 8 is a second perspective structural schematic view of the lateral road wheel in the embodiment of the invention.

Description of the reference numerals

1 moving vehicle frame 2 fixed plate

3 lateral walking wheel assembly 301 rotating frame

302 vertical pivot shaft of lateral walking wheel 303

304 bearing 305 bearing sleeve

306 force transmission sleeve 307 long shaft sleeve

308 short shaft sleeve 309 bearing cover

3010 and fastening the sleeve 3011 drive part

3012 rocking arm cover 3013 stop pad

3014 spring washer 3015 and fastening nut

4 jacking mechanism 401 first telescopic assembly

402 connecting piece 403 first telescopic cylinder

404 push-out base 405 first telescopic rod

406 first gas spring 407 second gas spring

408 cylinder mount 409 first spring mount

4010 second spring mount 5 brake mechanism

501 second telescoping component 502 first brake shoe component

503 second brake shoe assembly 504 first connecting rod

505 second connecting rod 506 second telescopic cylinder

507 push-out rod 508 second telescopic rod

509 third gas spring 5010 fourth gas spring

5011 brake shoe mounting rack 5012 brake shoe

5013 third connecting rod 5014 fourth connecting rod

5015 third spring mount 5016 fourth spring mount

Detailed Description

The following describes in detail embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

The embodiment of the invention provides a walking system for a pipeline internal welding machine, which is suitable for the pipeline internal welding machine, and as shown in fig. 1-8, the walking system comprises a moving frame 1, a fixed plate 2, a plurality of lateral walking wheel assemblies 3 and a jacking mechanism 4, wherein the moving frame 1 comprises a frame and a plurality of moving wheels arranged at the bottom of the frame (the moving wheels roll along the inner wall of the bottom of a pipeline); the fixed plate 2 is vertically arranged on the movable frame 1; the lateral walking wheel assemblies 3 are respectively arranged on two sides of the fixing plate 2, each lateral walking wheel assembly 3 comprises a rotating frame 301 and lateral walking wheels 302, one end of each rotating frame 301 is rotatably connected with the fixing plate 2, the lateral walking wheels 302 are horizontally arranged on a vertical pivot shaft 303, and the other end of each rotating frame 301 is connected with the vertical pivot shaft 303; the jacking mechanism 4 comprises a first telescopic assembly 401 and a connecting piece 402, the first telescopic assembly 401 is fixed with the fixed plate 2, one end of the connecting piece 402 is rotatably connected with the telescopic end of the first telescopic assembly 401, the other end of the connecting piece 402 is connected with the vertical pivot shaft 303, the first telescopic assembly 401 has a telescopic function, the rotating frame 301 expands laterally along with the extension of the first telescopic assembly 401, the lateral travelling wheels 302 gradually approach the lateral inner wall of the pipeline, when the first telescopic assembly 401 extends to a first preset length, the rotating frame 301 is in a fully unfolded state, at this time, the lateral walking wheels 302 contact with the lateral inner wall of the pipeline and generate proper pre-pressure to the lateral inner wall of the pipeline, and then make traveling system have damping braking function, effectively prevent in the pipeline welding machine and produce the gliding situation when walking under the downhill path environment, simple structure and reduced the safe risk of welding machine in the pipeline.

When the first telescopic assembly 401 is contracted, the rotating frame 301 is gradually folded, and the lateral travelling wheels 302 are gradually far away from the lateral inner wall of the pipeline.

In the embodiment of the present invention, the first telescopic assembly 401 includes a first telescopic cylinder 403 fixed on the fixed plate 2 and a push-out base 404, the push-out base 404 is disposed at an extending end of a first telescopic rod 405 of the first telescopic cylinder 403 and is perpendicular to the first telescopic rod 405, and a radial end of the push-out base 404 is rotatably connected with the connecting member 402. Specifically, a first telescopic cylinder 403 is arranged along the length direction of the moving frame 1, the cylinder body of the first telescopic cylinder 403 is fixed on the fixing plate 2 through a cylinder mounting seat 408, a push-out seat 404 is arranged at the extending end of the first telescopic rod 405 and moves along with the movement of the first telescopic rod 405, a groove is formed at one side of the push-out seat 404 far away from the first telescopic rod 405, one end of a connecting piece 402 extends into the groove and is hinged with the push-out seat 404, and the other end of the connecting piece 402 is connected with the vertical pivot shaft 303 of the lateral walking wheel 302. When the first telescopic rod 405 extends out, the push-out seat 404 applies thrust to the connecting piece 402, the push-out seat 404 acts on the vertical pivot shaft 303 of the lateral travelling wheel 302, the vertical pivot shaft 303 drives the lateral travelling wheel 302 and the rotating frame 301 to move together, so that the rotating frame 301 is gradually unfolded, and the lateral travelling wheel 302 gradually approaches to and is pressed against the lateral inner wall of the pipeline with proper pre-pressure; on the contrary, when the first telescopic rod 405 is retracted, the rotating frame 301 is gradually folded, and the lateral walking wheels 302 are gradually far away from the lateral inner wall of the pipeline.

In the embodiment of the present invention, the first telescopic assembly 401 further includes a first gas spring 406 and a second gas spring 407 disposed at both sides of the first telescopic cylinder 403, fixed ends of the first gas spring 406 and the second gas spring 407 are fixed to a cylinder body of the first telescopic cylinder 403, and telescopic ends of the first gas spring 406 and the second gas spring 407 are fixed to the ejector 404. Specifically, the first telescopic assembly 401 further includes a first spring mounting seat 409 and a second spring mounting seat 4010 which are respectively arranged at two sides of the first telescopic cylinder 403 and mounted on the cylinder mounting seat 408, a first gas spring 406 and a second gas spring 407 are respectively mounted on the first spring mounting seat 409 and the second spring mounting seat 4010, a fixed end of the first gas spring 406 is fixed on the first spring mounting seat 409, and a telescopic end of the first gas spring 406 is fixed on the pushing seat 404; similarly, the fixed end of second gas spring 407 is fixed on second spring mount pad 4010, the flexible end of second gas spring 407 is fixed on release seat 404, when first telescopic cylinder 403 can not admit air (if when breaking down, or when setting for first telescopic cylinder 403 and need not admit air under some operating modes), and then when leading to first telescopic link 405 can not release, first gas spring 406, second gas spring 407 still can act on release seat 404, so that side direction walking wheel 302 can support and lean on the inner wall of pipeline side direction, avoid influencing the tight function in top of tight mechanism 4 in top, traveling system's security performance has further been guaranteed. When the bogie needs to be folded, the first telescopic cylinder 403 should be charged with air and drive the first air spring 406 and the second air spring 407 to contract.

Further, the first gas spring 406 and the second gas spring 407 in this embodiment have the advantages of small volume and large extension force, and the first gas spring 406 and the second gas spring 407 may be replaced with elastic components having other structural forms and satisfying the telescopic function according to actual requirements.

In an embodiment of the present invention, the lateral road wheel 302 includes a rolling surface and a first lateral end surface and a second lateral end surface respectively located at two sides of the rolling surface, and the diameter of the first lateral end surface is different from that of the second lateral end surface. Specifically, first side end face, second side end face are circular, and from first side end face to the direction of second side end face, the diameter crescent (reduce gradually in opposite direction) of the cross-section of side direction walking wheel 302, the roll personally submits the arc, and this curved radian is unanimous with the inner wall radian of pipeline side direction to increase the area of contact between the roll surface of side direction walking wheel 302 and the inner wall of pipeline side direction, be favorable to strengthening the tight effect in top of tight mechanism 4 in top.

In the embodiment of the present invention, each set of lateral road wheel assemblies 3 includes two lateral road wheels 302 disposed opposite to each other up and down and passing through the vertical pivot shaft 303, a bearing 304, a bearing sleeve 305, a force transmission sleeve 306, a long shaft sleeve 307, a short shaft sleeve 308, a bearing cover 309, a tightening sleeve 3010 and a transmission part 3011, wherein the bearing sleeve 305 is sleeved on the outer side of the vertical pivot shaft 303, and the force transmission sleeve 306 is sleeved on the outer side of the bearing sleeve 305. The two lateral traveling wheels 302 which are opposite up and down are connected together through the force transmission sleeve 306 between the long shaft sleeve 307 and the short shaft sleeve 308, and the transmission part 3011 is sleeved outside the force transmission sleeve 306 and is positioned between the long shaft sleeve 307 and the short shaft sleeve 308. Further, the ends of the long shaft bushing 307 and the short shaft bushing 308 are each provided with a bearing hole for mounting the bearing 304, the bearing 304 is mounted in the bearing hole, the bearing cover 309 is disposed outside the bearing hole, and the close sleeve 3010 is disposed next to the bearing cover 309 to prevent the bearing 304 from sliding in the axial direction of the vertical pivot shaft 303. In this embodiment, the transmission portion 3011 is a sprocket, and the sprocket is in driving connection with a driving device of the pipeline internal welding machine, so that, in specific application, the transmission portion 3011 can transmit force to the vertical pivot shaft 303, so that the vertical pivot shaft 303 drives the lateral traveling wheels 302 to rotate, and the lateral traveling wheels 302 and the transmission portion 3011 rotate around the vertical pivot shaft 303 and the bearing sleeve 305.

In the embodiment of the invention, the lateral traveling wheel assemblies 3 further comprise a rocker arm sleeve 3012, a stop pad 3013, an elastic pad 3014 and a fastening nut 3015, specifically, the rocker arm sleeve 3012 is sleeved on the vertical pivot shaft 303 and is located on one side of the lateral traveling wheel 302 away from the transmission part 3011, the stop pad 3013, the elastic pad 3014 and the fastening nut 3015 are arranged at one end of the rocker arm sleeve 3012 away from the lateral traveling wheel 302, and each group of lateral traveling wheel assemblies 3 can be connected with a rocker arm on the moving frame 1 through the rocker arm sleeve 3012.

In the embodiment of the invention, the walking system further comprises a brake mechanism 5 arranged on the moving frame 1, so that the walking system has a brake function, and the safety performance of the walking system is further enhanced.

In the embodiment of the present invention, the brake mechanism 5 includes a second telescopic member 501, a first brake shoe member 502 and a second brake shoe member 503 which are arranged on the moving frame 1 and are perpendicular to the moving direction of the moving frame 1, the first brake shoe member 502 is arranged at the fixed end of the second telescopic member 501 through a first connecting rod 504, and the second brake shoe member 503 is arranged at the telescopic end of the second telescopic member 501 through a second connecting rod 505. Specifically, the second telescopic assembly 501 is arranged along the direction perpendicular to the length direction of the moving frame 1, when the second telescopic assembly 501 is in a contracted state, the distance between the first brake shoe assembly 502 and the second brake shoe assembly 503 is smaller than the diameter of the inner peripheral wall of the pipeline, and at this time, the walking system does not generate a braking effect; when the second telescopic component 501 extends, the second connecting rod 505 and the second brake shoe component 503 which are located at the telescopic end of the second telescopic component 501 move in the direction far away from the first brake shoe component 502 along with the extension of the second telescopic component 501, the distance between the first brake shoe component 502 and the second brake shoe component 503 is gradually increased, when the second telescopic component 501 extends to a second preset length, the first brake shoe component 502 and the second brake shoe component 503 both prop against the inner wall of the pipeline in the side direction, and the walking system has a braking function.

In the embodiment of the present invention, the second telescopic assembly 501 includes a second telescopic cylinder 506 and a push-out rod 507 which are arranged on the moving frame 1 and are perpendicular to the moving direction of the moving frame 1, the push-out rod 507 is arranged at the extending end of the second telescopic rod 508 of the second telescopic cylinder 506 and is perpendicular to the second telescopic rod 508, and the second connecting rod 505 is connected with the push-out rod 507. Specifically, a second telescopic cylinder 506 is arranged along a direction perpendicular to the length direction of the moving frame 1, the cylinder body of the second telescopic cylinder 506 is fixed on the moving frame 1, a push-out rod 507 is arranged at the extending end of the second telescopic rod 508 and moves along with the movement of the second telescopic rod 508, and the second connecting rod 505 and the second brake shoe assembly 503 move along with the push-out rod 507. When the second telescopic rod 508 extends, the second connecting rod 505 and the second brake shoe component 503 move towards the direction far away from the first brake shoe component 502, and the distance between the first brake shoe component 502 and the second brake shoe component 503 is gradually increased, so that the first brake shoe component 502 and the second brake shoe component 503 finally prop against the lateral inner wall of the pipeline, and the walking system realizes the braking function; on the contrary, when the second telescopic rod 508 is retracted, the distance between the first brake shoe assembly 502 and the second brake shoe assembly 503 is gradually reduced, and the braking function of the walking system is cancelled.

In the embodiment of the present invention, the second telescopic assembly 501 further includes a third gas spring 509 and a fourth gas spring 5010 disposed at both sides of the second telescopic cylinder 506, fixed ends of the third gas spring 509 and the fourth gas spring 5010 are fixed to the cylinder body of the second telescopic cylinder 506, and telescopic ends of the third gas spring 509 and the fourth gas spring 5010 are fixed to the push-out rod 507. Specifically, the second telescopic assembly 501 further comprises a third spring mounting seat 5015 and a fourth spring mounting seat 5016 which are respectively arranged on two sides of the second telescopic cylinder 506, a third gas spring 509 and a fourth gas spring 5010 are respectively arranged on the third spring mounting seat 5015 and the fourth spring mounting seat 5016, the fixed end of the third gas spring 509 is fixed on the third spring mounting seat 5015, and the telescopic end of the third gas spring 509 is fixed on the push-out rod 507; similarly, the fixed end of the fourth air spring 5010 is fixed to the fourth spring mounting seat 5016, the telescopic end of the fourth air spring 5010 is fixed to the push-out rod 507, when the second telescopic cylinder 506 cannot intake air (for example, when a fault occurs, or when the second telescopic cylinder 506 is set to not intake air under some working conditions), and further when the second telescopic rod 508 cannot be pushed out, the third air spring 509 and the fourth air spring 5010 can still act on the push-out rod 507, so that the second brake shoe assembly 503 can still move in the direction away from the first brake shoe assembly 502, and the brake and braking functions of the traveling system are prevented from being affected. When the braking function needs to be cancelled (e.g., in a normal walking state), air should be introduced into the second telescopic cylinder 506 and the third air spring 509 and the fourth air spring 5010 are driven to contract by the air.

In the case of downhill, the second telescopic assembly 501 extends to a third preset length, so that the brake mechanism 5 and the tightening mechanism 4 work together, that is, the first brake shoe assembly 502, the second brake shoe assembly 503 and the lateral walking wheel assembly 3 work together to reduce the walking speed of the in-pipe welding machine, so as to improve the driving safety of the in-pipe welding machine on the downhill, and in addition, the in-pipe welding machine does not stop moving forward completely due to the above-mentioned combined action.

Further, third gas spring 509 and fourth gas spring 5010 in the present embodiment have advantages of small volume and large extension force, and third gas spring 509 and fourth gas spring 5010 may be replaced by elastic members having other structures and satisfying the telescopic function according to actual requirements.

In the embodiment of the invention, the first brake shoe assembly 502 and the second brake shoe assembly 503 both comprise a brake shoe mounting rack 5011 and a brake shoe 5012 arranged on the brake shoe mounting rack 5011, the brake shoe 5012 has large friction force, and when the first brake shoe assembly 502 and the second brake shoe assembly 503 are pressed against the inner wall of the lateral direction of the pipeline with enough pressure, the friction force generated by the brake shoe 5012 on the inner wall of the lateral direction of the pipeline enables the braking function of the walking system to be realized; furthermore, in the embodiment, the outer side of the brake shoe 5012 is arc-shaped, and the arc angle is consistent with the bending angle of the lateral inner wall of the pipeline, so that the contact area between the brake shoe 5012 and the lateral inner wall of the pipeline is increased, the friction force is increased, and the braking performance is enhanced; further, the brake mechanism 5 further comprises a third connecting rod 5013 and a fourth connecting rod 5014, one end of the third connecting rod 5013 is rotatably connected with the brake shoe mounting rack 5011 of the first brake shoe assembly 502, and the other end of the third connecting rod 5013 is rotatably connected with the moving frame 1; one end of the fourth connecting rod 5014 is rotatably connected with the brake shoe mounting bracket 5011 of the second brake shoe assembly 503, and the other end of the fourth connecting rod 5014 is rotatably connected with the moving frame 1, so that the connection stability of the brake mechanism 5 is enhanced.

In the embodiment of the invention, the brake pad 5012 is made of rubber, and the brake pad 5012 made of the material can meet the friction requirement, is low in cost and easy to process and has good wear resistance.

Another embodiment of the present invention provides an in-pipe welder including the traveling system for an in-pipe welder in the above-described embodiments.

The invention provides a walking system for a pipeline internal welding machine and the pipeline internal welding machine, wherein a plurality of lateral walking wheel assemblies and a jacking mechanism are arranged in the walking system, each lateral walking wheel assembly comprises a rotating frame and a lateral walking wheel, one end of the rotating frame is rotationally connected with a fixed plate, the lateral walking wheels are arranged along the horizontal direction and are provided with vertical pivot shafts, and the other end of the rotating frame is connected with the vertical pivot shafts; the tight mechanism in top includes first flexible subassembly and connecting piece, first flexible subassembly is fixed with the fixed plate, the one end of connecting piece and the flexible end of first flexible subassembly are rotated and are connected, the other end and the vertical pivotal axis of connecting piece are connected, it makes the rotating turret be in the state of expandeing completely to extend when first flexible subassembly, side direction walking wheel and the contact of the inner wall of pipeline side direction produce appropriate precompression to the inner wall of pipeline side direction, and then make traveling system have damping braking function, effectively prevent in the pipeline welding machine and produce the situation of gliding when walking under the downhill path environment, the security performance of welding machine in the pipeline has been promoted.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including combinations of the specific features in any suitable way, and the invention will not be further described in relation to the various possible combinations in order to avoid unnecessary repetition. Such simple modifications and combinations should also be considered as disclosed in the present invention, and all such modifications and combinations are intended to be included within the scope of the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the second feature or the first and second features may be indirectly contacting each other through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and not to be construed as limiting the present invention, and those skilled in the art can make changes, modifications, substitutions and alterations to the above embodiments within the scope of the present invention.

Claims (10)

1. A walking system for a welder in a pipeline, characterized in that the walking system comprises:

a moving carriage (1);

the fixed plate (2) is vertically arranged on the movable frame (1);

the lateral walking wheel assemblies (3) are respectively arranged on two sides of the fixing plate (2), each lateral walking wheel assembly (3) comprises a rotating frame (301) and a lateral walking wheel (302), one end of each rotating frame (301) is rotatably connected with the fixing plate (2), the lateral walking wheels (302) are arranged on the vertical pivot shaft (303) along the horizontal direction, and the other end of each rotating frame (301) is connected with the vertical pivot shaft (303);

tight mechanism (4) in top, tight mechanism (4) in top includes first telescopic component (401) and connecting piece (402), first telescopic component (401) with fixed plate (2) are fixed, the one end of connecting piece (402) with the flexible end of first telescopic component (401) is rotated and is connected, the other end of connecting piece (402) with vertical pivot axle (303) are connected.

2. The traveling system for the in-pipe welder as defined in claim 1, wherein the first telescopic assembly (401) comprises a first telescopic cylinder (403) fixed on the fixed plate (2) and a push-out base (404), the push-out base (404) is arranged at an extending end of a first telescopic rod (405) of the first telescopic cylinder (403) and is perpendicular to the first telescopic rod (405), and a radial end of the push-out base (404) is rotatably connected with the connecting member (402).

3. The traveling system for the in-pipe welder according to claim 2, characterized in that the first telescopic assembly (401) further comprises a first gas spring (406) and a second gas spring (407) which are arranged on two sides of the first telescopic cylinder (403), fixed ends of the first gas spring (406) and the second gas spring (407) are fixed with a cylinder body of the first telescopic cylinder (403), and telescopic ends of the first gas spring (406) and the second gas spring (407) are fixed with the push-out seat (404).

4. Travelling system for a pipe internal welding machine according to claim 3, characterized in that it further comprises a braking mechanism (5) arranged on the moving carriage (1).

5. The traveling system for the pipe internal welding machine according to claim 4, characterized in that the brake mechanism (5) comprises a second telescopic assembly (501), a first brake shoe assembly (502) and a second brake shoe assembly (503) which are arranged on the moving frame (1) and are perpendicular to the moving direction of the moving frame (1), the first brake shoe assembly (502) is arranged at the fixed end of the second telescopic assembly (501) through a first connecting rod (504), and the second brake shoe assembly (503) is arranged at the telescopic end of the second telescopic assembly (501) through a second connecting rod (505).

6. The walking system for the in-pipe welder according to claim 5, wherein the second telescopic assembly (501) comprises a second telescopic cylinder (506) and a push-out rod (507) which are arranged on the moving frame (1) and are perpendicular to the moving direction of the moving frame (1), the push-out rod (507) is arranged at the extending end of a second telescopic rod (508) of the second telescopic cylinder (506) and is perpendicular to the second telescopic rod (508), and the second connecting rod (505) is connected with the push-out rod (507).

7. The traveling system for the in-pipe welder according to claim 6, characterized in that the second telescopic assembly (501) further comprises a third gas spring (509) and a fourth gas spring (5010) which are arranged on two sides of the second telescopic cylinder (506), wherein the fixed ends of the third gas spring (509) and the fourth gas spring (5010) are fixed to the cylinder body of the second telescopic cylinder (506), and the telescopic ends of the third gas spring (509) and the fourth gas spring (5010) are fixed to the push-out rod (507).

8. The walking system for the pipe internal welding machine according to claim 5, characterized in that the first brake shoe assembly (502) and the second brake shoe assembly (503) each comprise a brake shoe mounting bracket (5011) and a brake shoe (5012) arranged on the brake shoe mounting bracket (5011).

9. The walking system for the in-pipe welder of claim 8, wherein the lateral walking wheels (302) comprise a rolling surface and a first lateral end surface and a second lateral end surface respectively located on two sides of the rolling surface, and the diameter of the first lateral end surface is different from that of the second lateral end surface.

10. An in-pipe welder, characterized in that the in-pipe welder comprises a walking system for an in-pipe welder according to any of the claims 1-9.

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