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.