CN205571756U

CN205571756U - Automatic welding locomotive of laying of large pipe

Info

Publication number: CN205571756U
Application number: CN201521111432.6U
Authority: CN
Inventors: 战国忠
Original assignee: Individual
Current assignee: Individual
Priority date: 2015-12-30
Filing date: 2015-12-30
Publication date: 2016-09-14
Anticipated expiration: 2025-12-30

Abstract

The utility model provides an automatic welding locomotive of laying of large pipe, including main support subassembly, chassis assembly spare, track subassembly, the main support subassembly is fixed on the chassis assembly spare, the track subassembly is fixed on the chassis assembly spare, the main support subassembly has set gradually robotic arm assembly from top to bottom, the groove mould is revised in the cutting, chassis assembly spare has set gradually the liftable from left to right and has hung hook component, intermediate strut subassembly and retractable welding heating mould, the inside wall bottom of intermediate strut subassembly with the bottom of welding mould inside wall is in on the same water flat line. The beneficial effects of the utility model are that can lay that by a wide margin reducing of welding jobs is construction cost, highly automated, high work efficiency, the structure is succinct in the complicated topography in hills, automatic welding locomotive of laying of large pipe device welding quality, the huge economic benefits of production is guaranteed in easily operation maintenance and transition.

Description

Large-scale pipeline lays welding locomotive automatically

Technical field

This utility model relates to large-scale pipeline and lays field of welding devices, especially relates to a kind of large-scale pipeline and automatically lays Welding locomotive.

Background technology

Laying of existing petroleum pipeline (large-scale pipeline of particularly 1.6*12 rice), the first digging grooves of many employings, then will Pipeline is placed on by groove in advance, by crane and the cooperation of workman, is placed in groove by pipeline, finally aligns and weld, whole Laid processes needs substantial amounts of personnel to participate in, the most up to more than 70 people, but laying speed is very slow, within average one day, lays two , there is certain welding hidden danger in root, and artificial levelling welding.

Summary of the invention

The purpose of this utility model be to provide a kind of can hills complexity landform lay being greatly reduced of weld job execute Supermatic high construction efficiency of work cost simple for structure, it is easy to Operation and Maintenance and transition, it is ensured that welding quality big Welding locomotive apparatus laid automatically by type pipeline.

The technical solution of the utility model is:

Large-scale pipeline lays welding locomotive automatically, including main support assembly, chassis assembly, track assembly,

Described main support assembly is fixed on described chassis assembly, and described track assembly is fixed on described chassis assembly,

Described main support assembly is from top to bottom disposed with robot assemblies, groove mold, folding and unfolding mold are revised in cutting Assembly,

Described chassis assembly is disposed with liftable hook assembly, intermediate supports assembly and weld heating tire from left to right Tool,

The bottom, medial wall of described intermediate supports assembly is in same water with the bottom of described weld heating mold medial wall On horizontal line.

Described robot assemblies includes the expansion link by driven by servomotor, be fixed on described expansion link end and and its The hydraulic arm assembly of revolute pair each other, is fixed on the handgrip assembly of described hydraulic arm assembly lower end.

Further, described handgrip assembly includes shell and the fixing chuck being arranged in described shell.

Further, described handgrip assembly be provided centrally with image Infrared measuring devices.

Described cutting is revised groove mold and is included retractor device, is connected with the end of the motion parts of described retractor device Fixing device, the image measuring device being connected with the standing part of described retractor device and being rotationally connected with described retractor device Groove correction cutter.

Further, described fixing device includes tensioner hydraulic means, with the end of the motion parts of described tensioner hydraulic means The tensioner chuck that portion connects, the tensioner mesh being slidably connected with described tensioner chuck, described tensioner chuck connects with described tensioner purpose Contacting surface is inclined-plane, and described groove correction cutter is fixed on cutting rotating disk, and described cutting rotating disk turns with described tensioner hydraulic means It is dynamically connected.

Further, described fixing device includes hydraulic conveyor, with the end of the motion parts of described hydraulic conveyor The fixing mold that portion connects, the inner wall of end of described fixing mold is provided with fixing chuck, and described groove correction cutter is fixed on On cutting rotating disk, described cutting rotating disk is fixing with described hydraulic conveyor to be connected.

Described weld heating mold includes fixing device and fixes automatic soldering device on the securing means and with solid Determining the heating assembly that device connects, described fixing device includes the mold fixation kit of annular, is fixed on described mold solid Determine the hydraulic locking mechanism on assembly, be fixed on the mold moving component of the annular of described hydraulic locking mechanism end, described tire The inner side of tool fixation kit and described mold moving component is provided with fixing chuck, and the outside of described mold moving component is arranged In having image measuring device, described heating assembly to include the housing unit of annular, the thermal insulation layer in housing unit and thermal insulation layer Heater.

Further, described automatic soldering device includes energy storage resistance welding mold or electric arc automatic welding mold.

Further, described heater includes medium/high frequency heater or combustion gas, acetylene heater.

This utility model has the advantage that with good effect: adapts to various a chain of undulating hills landform and lays weld job, significantly Reduce construction cost, supermatic, high workload efficiency, simple for structure, be prone to pipeline bend up and down, Operation and Maintenance Simplicity is prone to transition, it is ensured that welding quality, produce great economic benefit large-scale pipeline automatically lay welding locomotive apparatus.

Accompanying drawing explanation

Fig. 1 is main TV structure schematic diagram of the present utility model；

Fig. 2 is side-looking structural representation of the present utility model；

Fig. 3 is plan structure schematic diagram of the present utility model；

Fig. 4 is the structural representation of robot assemblies in this utility model；

Fig. 5 is the structural representation that in this utility model, groove mold is revised in cutting；

Fig. 6 is the another kind of structural representation that in this utility model, groove mold is revised in cutting；

Fig. 7 is the structural representation of weld heating mold in this utility model；

Fig. 8 is this utility model structural representation before shipping；

Fig. 9 is this utility model deformation schematic diagram in transit.

Figure 10 is this utility model bulk deformation schematic diagram before shipping.

In figure:

1, main support assembly 2, chassis assembly 3, track assembly

4, groove mold 6, weld heating mold are revised in robot assemblies 5, cutting

7, control cabinl pulpit 8, accommodation assembly 9, liftable hook assembly are controlled

10, intermediate supports assembly 11, folding and unfolding mold assembly

41, servomotor 42, expansion link 43, hydraulic arm assembly

44, handgrip assembly 45, shell 46, first fix chuck

47, shooting Infrared measuring devices

51, retractor device the 52, first image measuring device 53, groove correction cutter

54, tensioner hydraulic means 55, tensioner chuck 56, tensioner mesh

57, cutting rotating disk 58, hydraulic conveyor 59, fixing mold

510, second chuck is fixed

61, mold fixation kit 62, hydraulic locking mechanism 63, mold moving component

64, the 3rd chuck the 65, second image measuring device 66, automatic soldering device are fixed

67, medium/high frequency heater 68, heat ray filter 69, housing unit

Detailed description of the invention

Large-scale pipeline lays welding locomotive automatically as shown in Figure 1, Figure 2, Figure 3 shows, including main support assembly 1, chassis assembly 2, Track assembly 3, the track assembly that described track assembly 3 turns to for liftable, monolateral mono-track can be used according to service condition Or monolateral pair of caterpillar belt structure, Fig. 1 is the monolateral pair of caterpillar belt structure shown, described main support assembly 1 is fixed on described chassis group On part 2, described main support assembly 1 is connected on described chassis assembly 2 by slide block assembly, rack-and-pinion motor make winner prop up Frame assembly 1 moves forward and backward, and described track assembly 3 is fixed on described chassis assembly 2, and described chassis assembly 2 can be transversely or vertically Stretch and shrink, it is simple to locomotive is transported through (as shown in Figure 8, Figure 9, monolateral pair of caterpillar belt structure of display in figure), described main support Assembly 1 is from top to bottom disposed with robot assemblies 4, groove mold 5 and folding and unfolding mold assembly 11, described chassis are revised in cutting Assembly 2 is disposed with liftable hook assembly 9, intermediate supports assembly 10 and weld heating mold 6 from left to right, is leading simultaneously Carriage assembly 1 rear and front end be provided with control control cabinl pulpit 7, the two control control cabinl pulpit 7 all can to robot assemblies 4, cut Cut correction groove mold 5, folding and unfolding mold assembly 11 and weld heating mold 6 to carry out manually, automatically control, can be according to petroleum pipeline The putting position in road, selects to control control cabinl pulpit 7 flexibly and carries out the operation of side all around, and during transition, control cabinl pulpit 7 can control folding and unfolding Mold assembly 11 is regained weld heating mold 6, raises and shrink chassis assembly 2, is lifted accommodation assembly 8, at main support assembly 1 Top, and be provided with accommodation assembly 8 in the space between two robot assemblies 4, it is simple to use and operator are carried out Having a rest and article storage, described liftable hook assembly 9 is positioned at the left end of this equipment, corresponding with weld heating mold 6, and institute Stating liftable hook assembly 9 can be with oscilaltion with movable, and described intermediate supports assembly 10 is fixed on described chassis assembly 2 On, in order to reduce pipe fitting amount of deflection, its bottom, medial wall is in same level line with the bottom of described weld heating mold 6 medial wall On, support for pipeline being carried out auxiliary.

As shown in Figure 4, described robot assemblies 4 includes the expansion link 42 driven by servomotor 41, is arranged on described On expansion link 42 slide block and with the hydraulic arm assembly 43 of its revolute pair each other, described hydraulic arm assembly 43 is fixed on slide block, institute State slide block to be arranged on described expansion link 42, and described slide block can be moved left and right by driven by servomotor numeral, be fixed on described The handgrip assembly 44 of hydraulic arm assembly 43 lower end, described handgrip assembly 44 includes shell 45 and the electricity being arranged in described shell 45 Magnetically fixed chuck 46, described handgrip assembly 44 be provided centrally with image measuring device 47, utilize image measuring device 47 to guide Handgrip assembly 44 obtains pipe fitting, and the displacement coordinate that its handgrip assembly moves is by timely record, it is simple to handgrip assembly can be accurately Positioning and keep in the center, pipe fitting is brought into 0 position of X-axis and is completed to be brought into by pipe fitting after groove is accomplished 0 position of Y-axis again by handgrip assembly Put.

As it is shown in figure 5, groove mold 5 is revised in described cutting includes retractor device 51, with the motion of described retractor device 51 Part end connect fixing device, the first image measuring device 52 being connected with the standing part of described retractor device 51 and The groove correction cutter 53 being rotationally connected with described retractor device 51.Two needs are docked by described cutting correction groove mold 5 The long axial adjustment of corresponding end face of pipe fitting consistent, described first image measuring device 52 of this mold is used for measuring pipe simultaneously Part two ends ovality, when pipeline is placed on after described cutting revises in groove mold 5, polish groove in pipe fitting two ends simultaneously, simultaneously It is also ensured that the perpendicularity of pipeline, described fixing device includes tensioner hydraulic means 54, with described tensioner hydraulic means 54 The tensioner chuck 55 that the end of motion parts connects, the tensioner mesh 56 being slidably connected with described tensioner chuck 55, described tensioner card Dish 55 is inclined-plane with the contact surface of described tensioner mesh 56, and described groove correction cutter 53 is fixed on cutting rotating disk 57, described in cut Cut rotating disk 57 to be rotationally connected with described tensioner hydraulic means 54.

After robot assemblies 4 brings pipe fitting into Y-axis stop, stretching of groove mold 5 is revised in the described cutting at pipe fitting two ends Compression apparatus 51 stretches out, and fixing device is stretched in pipe fitting, simultaneously tensioner hydraulic means 54 action, drives tensioner chuck 55 to bounce back, Tensioner chuck 55 is incited somebody to action by the inclined-plane contacted with described tensioner mesh 56, and described tensioner mesh 56 pushes up on the inwall of pipeline, pins pipe Part, drives cutting rotating disk 57 to rotate, it is achieved the milling processing of the groove correction of pipe fitting left and right end face, simultaneously on cutting rotating disk 57 Measurement apparatus completes the measurement of pipe fitting left and right end face ovality.

Meanwhile, described cutting is revised groove mold 5 and can also be used structure as shown in Figure 6, described cutting correction groove Mold 5 includes retractor device 51, the fixing device being connected with the end of the motion parts of described retractor device 51, flexible with described The first image measuring device 52 that the standing part of device 51 connects and the groove correction being rotationally connected with described retractor device 51 Cutter 53, described fixing device includes hydraulic conveyor 58, connects with the end of the motion parts of described hydraulic conveyor 58 The fixing mold 59 connect, the inner wall of end of described fixing mold 59 is provided with second and fixes chuck 510, described groove correction cutter 53 are fixed on cutting rotating disk 57, and described cutting rotating disk 57 is fixing with described hydraulic conveyor 58 to be connected.

After robot assemblies 4 brings pipeline into Y-axis stop, stretching of groove mold 5 is revised in the described cutting of pipe ends Compression apparatus 51 stretches out so that fixing device is positioned at outside pipeline, simultaneously hydraulic conveyor 58 action, drives fixing mold 59 to pipe Direction, road is moved, and fixes chuck 510 by second and pins pipeline, drives pipeline to rotate, it is achieved the groove of pipe fitting left and right end face is repaiied Positive milling processing, the measurement apparatus on cutting rotating disk 57 completes the measurement of pipe fitting left and right end face ovality simultaneously.

As it is shown in fig. 7, described weld heating mold 6 includes fixing device and the automatic welding being fixed in described fixing device Connection device 66 (being provided with optical contrast and ultrasonic inspection near it for detecting weldquality) and be connected one with fixing device The heating assembly risen, described fixing device includes the mold fixation kit 61 of annular, is fixed on described mold fixation kit 61 Hydraulic locking mechanism 62, be fixed on described hydraulic locking mechanism 62 end annular mold moving component 63, described mold The inner side of fixation kit 61 and described mold moving component 63 is provided with the 3rd and fixes chuck 64, described mold moving component 63 Outside be provided with the second image measuring device 65, XYZ axis calibration device is installed, it is ensured that it is accurate that pipe fitting moves, Fig. 7 uses For electric arc automatic welding mold, equally, it would however also be possible to employ energy storage resistance welding mold, automatic soldering device is prior art, Do not repeat them here, in described heating assembly includes the thermal insulation layer 68 in the housing unit 69 of annular, housing unit, thermal insulation layer Heater 67.

Job step: (roughing-in a size of 1.6X12m)

1, ground the first pipeline is placed in groove correction mold by digital drive and carries out by mechanical arm and handgrip assembly Cutting is revised, and second pipe is welding opposite joint in welding positioner；

2, after second pipe completes welding sequence, locomotive moves, and now machine followed by welding positioner, intermediate supports assembly Car synchronizing moving；

3, running into up/down hillside fields during locomotive moves i.e. to stop and heat after 700-900 degree at pipeline flex point, locomotive moves weldering Connecing heating mold forces pipeline to bend with physical features, and after the cooling of pipeline flex point, locomotive continues to move to, and stops after 12m, welding positioner Pinning the left end of second pipe, now liftable hook assembly returns locomotive left end departing from second pipe is mobile,

4, continued access the first pipeline completing groove correction is dropped to Y-axis 0 means of spot welds position by robot assemblies digital drive, Liftable hook assembly pins the first pipeline left end, and main support assembly moves so that the right-hand member of the first pipeline enters welding positioner, Digital drive adjusts liftable hook assembly makes both ends of the surface welding opposite joint minimize, and then weld heating mold pins the first pipe Part proceeds by automatic welding operation, after detecting qualified completing, jumps to job step 1.

Above an embodiment of the present utility model is described in detail, but described content is the most of the present utility model Preferred embodiment, it is impossible to be considered for limiting practical range of the present utility model.All made according to this utility model application range Impartial change and improvement etc., within all should still belonging to patent covering scope of the present utility model.

Claims

1. large-scale pipeline lays welding locomotive automatically, it is characterised in that: include main support assembly, chassis assembly, track assembly,

Described main support assembly is from top to bottom disposed with robot assemblies, groove mold, folding and unfolding mold assembly are revised in cutting,

Described chassis assembly is disposed with liftable hook assembly, intermediate supports assembly and retractable welding from left to right and adds Hot mold,

The bottom, medial wall of described intermediate supports assembly is on same level line with the bottom of described welding positioner medial wall.

Large-scale pipeline the most according to claim 1 lays welding locomotive automatically, it is characterised in that: described robot assemblies bag Include the expansion link by driven by servomotor, be fixed on described expansion link end and the hydraulic arm assembly with its revolute pair each other, It is fixed on the handgrip assembly of described hydraulic arm assembly lower end.

Large-scale pipeline the most according to claim 2 lays welding locomotive automatically, it is characterised in that: described handgrip assembly includes Shell fixes chuck with first be arranged in described shell.

Large-scale pipeline the most according to claim 2 lays welding locomotive automatically, it is characterised in that: in described handgrip assembly The heart is provided with shooting Infrared measuring devices.

Large-scale pipeline the most according to claim 1 lays welding locomotive automatically, it is characterised in that: groove is revised in described cutting Mold includes retractor device, the fixing device being connected with the end of the motion parts of described retractor device, with described retractor device The image measuring device that connects of standing part and the groove correction cutter that is rotationally connected with described retractor device.

Large-scale pipeline the most according to claim 5 lays welding locomotive automatically, it is characterised in that: described fixing device includes Tensioner hydraulic means, the tensioner chuck being connected with the end of the motion parts of described tensioner hydraulic means, with described tensioner chuck The tensioner mesh being slidably connected, described tensioner chuck and described tensioner purpose contact surface are inclined-plane, and described groove correction cutter is fixed On cutting rotating disk, described cutting rotating disk is rotationally connected with described tensioner hydraulic means.

Large-scale pipeline the most according to claim 5 lays welding locomotive automatically, it is characterised in that: described fixing device includes Hydraulic conveyor, the fixing mold being connected with the end of the motion parts of described hydraulic conveyor, described fixing mold Inner wall of end is provided with second and fixes chuck, and described groove correction cutter is fixed on cutting rotating disk, described cutting rotating disk and institute State the fixing connection of hydraulic conveyor.

Large-scale pipeline the most according to claim 1 lays welding locomotive automatically, it is characterised in that: described weld heating mold The automatic soldering device including fixing device and being fixed in described fixing device and the heating connected with fixing device Assembly, described heating assembly includes the housing unit of annular, the thermal insulation layer in housing unit, the heater in thermal insulation layer, described Heater includes medium/high frequency heater or combustion gas, acetylene heater, and described fixing device includes the mold fixation kit of annular, It is fixed on the hydraulic locking mechanism on described mold fixation kit, is fixed on the mold of the annular of described hydraulic locking mechanism end Moving component, the inner side of described mold fixation kit and described mold moving component is provided with the 3rd and fixes chuck, described tire The outside of tool moving component is provided with image measuring device.

Large-scale pipeline the most according to claim 8 lays welding locomotive automatically, it is characterised in that: described automatic soldering device Including energy storage resistance welding mold or electric arc automatic welding mold.

Large-scale pipeline the most according to claim 1 lays welding locomotive automatically, it is characterised in that: described folding and unfolding mold group Part includes connecting the rotary extension robot assemblies on mainframe and connected mold robot assemblies.