CN114833519A - Pipe internal butt-joint device - Google Patents

Abstract

The present disclosure provides an inner pipe fitting, which belongs to the field of pipe welding. The in-pipe counterpart includes a fixed frame, a tensioning mechanism, a power supply mechanism, a connecting mechanism and a traveling mechanism; the fixed frame includes a front frame and a middle frame, and the tensioning mechanism includes a first tensioning assembly and a second tensioning assembly , the first tensioning assembly and the second tensioning assembly are located on the front frame at intervals along the length direction of the front frame, the connecting mechanism includes two flexible assemblies, one of the two flexible assemblies is located between the front frame and the middle frame between, and are respectively connected with the guide assembly and the middle frame, the other of the two flexible assemblies is located between the middle frame and the power supply mechanism, and is respectively connected with the middle frame and the power supply mechanism; the traveling mechanism is located in the middle frame It is mounted on the frame and is connected with the middle frame, so that the in-pipe counterpart can travel along the inner wall of the pipe through the walking mechanism. Through the pipe matching device, the pipeline matching can be realized in a complex environment, and the welding construction quality can be ensured.

Description

An in-pipe mouthpiece

technical field

The present disclosure belongs to the technical field of pipeline welding, and in particular relates to an internal counterpart in a pipeline.

Background technique

As the main supporting equipment for automatic pipeline welding, the inner pipe fitting is used for quick and accurate alignment of the nozzles during the outer root welding of the pipeline, and has been widely used in the construction site of long-distance pipelines.

In the related art, the in-pipe counterpart generally includes a front frame, a middle frame, two sets of tensioning assemblies, a running mechanism and a power assembly. Among them, the front frame is located at the front end of the mouthpiece in the pipeline, which is not only used to guide the walking of the mouthpiece in the pipeline, but also provides an installation foundation for the tensioning assembly. The middle frame is connected with the front frame and is used to provide the installation basis for the running gear and power components. The two sets of tensioning assemblies are spaced apart on the front frame and used to fit and tension the inner wall of the pipeline. During welding, the movement of the counterpart in the pipeline in the pipeline is realized by the walking mechanism. When the counterpart in the pipeline moves to the designated position, one set of tensioning components is located at the end of one pipeline, and the other set of tensioning components is located adjacent to the end of the other pipe. Then, firstly make one group of tensioning components fit tightly with the inner wall of the pipeline, and then control the other group of tensioning components to expand and control the movement of the pipeline so that the inner wall of the pipeline and this group of tensioning components fit together. To achieve the mating of the two pipe ends.

However, with the construction environment such as mountainous areas, hills, water networks, swamps, etc., the proportion of hot simmering elbows (usually referring to elbows with a camber of 45°) is increasing day by day. Since the above-mentioned in-pipe counterpart cannot have the ability to pass the pipe in the hot simmering bend, it cannot meet the automatic welding in the above-mentioned construction environment.

SUMMARY OF THE INVENTION

The embodiments of the present disclosure provide an in-pipe counterpart, which can realize automatic on-site welding and flow operation of pipelines in complex construction environments such as mountainous areas, hills, water networks, and swamps, and ensure welding construction quality and construction progress. The technical solution is as follows:

An embodiment of the present disclosure provides an in-pipe counterpart, which includes a fixed frame, a tensioning mechanism, a power supply mechanism, a connection mechanism, and a traveling mechanism;

The fixed frame includes a front frame and a middle frame, and the front frame and the middle frame are spaced apart from each other;

The tensioning mechanism includes a first tensioning component and a second tensioning component, the first tensioning component and the second tensioning component are annular and are arranged coaxially spaced from each other, and the first tensioning component and the second tensioning assembly is respectively connected with the outer side wall of the front frame;

the power supply mechanism is located on a side of the middle frame away from the front frame;

The connecting mechanism includes a first flexible assembly and a second flexible assembly, the first flexible assembly is located between the front frame and the middle frame, and one side of the first flexible assembly is connected to the front frame. The frame is hinged, the other side of the first flexible assembly is hinged with the middle frame, the second flexible assembly is located between the middle frame and the power supply mechanism, and the second flexible assembly is One side of the second flexible assembly is hinged with the middle frame, and the other side of the second flexible assembly is hinged with the power supply mechanism;

The traveling mechanism is located on the middle frame and connected with the middle frame.

In yet another implementation manner of the present disclosure, the first flexible component includes a first connection seat and two first air spring groups;

Both sides of the first connecting seat are hinged with the front frame and the middle frame respectively;

The two first air spring groups are respectively located on opposite sides of the first connecting seat, and one of the two first air spring groups is located between the first connecting seat and the front frame, and one end away from the first connecting seat is used to abut against the front frame, the other of the two first air spring groups is located between the first connecting seat and the middle frame, and The end facing away from the first connecting seat is used to abut against the middle frame, and the two first air spring groups are respectively communicated with the power supply mechanism.

In yet another implementation manner of the present disclosure, the second flexible assembly includes a second connection seat and two second air spring groups;

Both sides of the second connecting seat are hinged with the middle frame and the power supply mechanism respectively;

The two second air spring groups are respectively located on opposite sides of the second connecting seat, and one of the two second air spring groups is located between the second connecting seat and the middle frame, and one end away from the second connecting seat is used to abut against the middle frame, the other of the two second air spring groups is located between the second connecting seat and the power supply mechanism, and The end facing away from the second connection seat is used to abut against the power supply mechanism, and the two second air spring groups are respectively communicated with the power supply mechanism.

In yet another implementation manner of the present disclosure, the first air spring group includes a plurality of first air springs, and the first air springs are circumferentially arranged along the outer edge of the first connection seat;

The second air spring group includes a plurality of second air springs, and each of the second air springs is circumferentially arranged along the outer edge of the second connecting seat.

In yet another implementation manner of the present disclosure, the traveling mechanism includes a traveling cylinder, a differential, a transmission assembly, and two traveling wheel sets;

The traveling cylinder is located inside the middle frame and is connected to the middle frame. The traveling cylinder has two telescopic ends, and the telescopic direction of the traveling cylinder is the same as the axis of the first tensioning assembly. vertical;

The differential is close to the traveling cylinder and is connected to the middle frame, and the traveling cylinder and the differential are respectively connected to the power supply mechanism for transmission;

The transmission assembly is close to the differential, and the transmission assembly is in driving connection with the output end of the differential;

The two traveling wheel groups are respectively located at the two telescopic ends of the traveling cylinder, the traveling wheel groups are in one-to-one correspondence with the output ends of the traveling cylinder, and are respectively connected with the telescopic ends. They are respectively connected with the transmission components.

In yet another implementation manner of the present disclosure, the transmission assembly includes a first transmission device and a second transmission device;

The first transmission device and the second transmission device are respectively located on opposite sides of the differential, and the first transmission device is drivingly connected to the output shaft of the differential, and the two traveling wheels one of the groups is connected to the first transmission;

The second transmission device is drivingly connected with the output shaft of the differential, and the other of the two traveling wheel sets is connected with the second transmission device.

In yet another implementation of the present disclosure, the first tensioning assembly is far away from the first flexible assembly, the second tensioning assembly is close to the first flexible assembly, and the first tensioning assembly includes multiple two tensioning members arranged at intervals along the circumference of the first tensioning assembly, the tensioning members comprising a telescopic mechanism, a strut and a copper lining assembly;

the telescopic mechanism is located inside the middle frame and is connected with the middle frame;

The first end of the strut is connected with the telescopic mechanism to move in the radial direction of the first tensioning assembly;

The copper lining assembly is located at a position of the outer wall of the strut near the second end, and is connected to the strut, and the copper lining assembly protrudes from the strut toward the second tensioning assembly.

In yet another implementation of the present disclosure, the copper bushing assembly includes a bushing seat and a copper bushing;

The bushing seat includes a bottom frame and a limit plate, the outer wall of the bottom frame is connected with the outer wall of the strut, and the limit plate is connected to a side of the bottom frame away from the first end of the strut. On the side, the copper bushing is movably connected to the plate surface of the limiting plate away from the first end of the strut, and the moving direction of the copper bushing is in the axial direction of the first tensioning assembly. Similarly, a side surface of the copper bushing away from the bottom plate of the bushing seat is a circular arc surface, and the circular arc surface is coaxial with the first tensioning component.

In yet another implementation manner of the present disclosure, the copper bushing is an isosceles trapezoid block, the copper bushing has two side waists, and the two side waists are respectively located on the arc surface of the copper bushing On the opposite sides, the side waists between the two adjacent copper bushings are fitted together.

In yet another implementation manner of the present disclosure, the copper lining assembly further includes a limit shaft and a spring;

The limiting shaft is located between the strut and the copper bushing, and the first end of the limiting shaft passes through the side wall of the bottom frame and is connected to the outer wall of the strut, and the limiting shaft is connected to the outer wall of the strut. The second end of the positioning shaft is located in the bottom frame and is movably inserted on the limiting plate;

The spring is sleeved outside the limiting shaft, the first end of the spring is in contact with the bottom frame, and the second end of the spring is connected with the limiting plate.

The beneficial effects brought by the technical solutions provided by the embodiments of the present disclosure are:

When welding the pipeline with the in-pipe counterpart provided by the embodiments of the present disclosure, since the pipeline inner-equipment includes a fixed frame, a tensioning mechanism, a power supply mechanism, a connecting mechanism and a traveling mechanism, the fixed frame can be used for welding. Other mechanisms provide an installation basis, and the tightening mechanism is attached to the inner wall of the pipe and tightened, so as to realize the matching of the two pipe ends during welding. Provide power support for the mouthpiece in the entire pipeline through the power supply mechanism. The in-pipe counterpart can travel inside the pipe through the walking mechanism.

In addition, since the connecting mechanism in the in-pipe counterpart includes a first flexible component and a second flexible component, when the in-pipe counterpart travels inside the pipeline, especially when the pipeline is in a bent state, it can pass through the first flexible component. And the flexible swing of the second flexible component makes the axial offset between the middle frame and the front frame, and at the same time causes the axial offset between the middle frame and the power supply mechanism, so that the in-pipe counterpart can be smoothly By bending the pipe, it will not get stuck, so that the inner mouthpiece of the pipe can be used normally in complex construction environments such as mountains, hills, water networks, and swamps.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present disclosure more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is a schematic structural diagram of an in-pipe mouthpiece provided by an embodiment of the present disclosure;

2 is a top view of an in-pipe mouthpiece provided by an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a strut and a copper lining assembly provided by an embodiment of the present disclosure;

FIG. 4 is a top view of a strut and copper lining assembly provided by an embodiment of the present disclosure;

FIG. 5 is a bottom view of the strut and copper lining assembly provided in an embodiment of the present disclosure;

FIG. 6 is a side view of a strut and copper lining assembly provided in an embodiment of the present disclosure;

7 is a schematic structural diagram of a walking mechanism provided by an embodiment of the present disclosure;

FIG. 8 is a front view of a differential provided by an embodiment of the present disclosure;

9 is a top view of a walking mechanism provided by an embodiment of the present disclosure;

10 is a top view of a differential provided by an embodiment of the present disclosure;

FIG. 11 is a partial structural schematic diagram of a walking mechanism provided by an embodiment of the present disclosure;

12 is a rear view of a partial structure of a walking mechanism provided by an embodiment of the present disclosure;

FIG. 13 is a left side view of the partial structure of the walking mechanism provided by the embodiment of the present disclosure.

The meanings of the symbols in the figure are as follows:

1. Fixed frame; 11. Front frame; 111. Guide cover; 112. Mounting seat; 113. Guide wheel; 12. Middle frame;

2. Tensioning mechanism; 21. The first tensioning component; 211, tensioning piece; 2111, telescopic mechanism; 2112, strut; 21121, rising rod;

22. Second tensioning component; 2113, copper bushing component; 2114, bushing seat; 21141, bottom frame; 21142, limit plate; 2115, copper bushing; 2116, limit shaft; 2117, spring;

3. Power supply mechanism; 31. Gas tank floating wheel;

4. Connecting mechanism; 41. First flexible assembly; 411, First connecting seat; 412, First air spring group; 4121, First air spring; 42, Second flexible assembly; 421, Second connecting seat; 422, The second air spring group; 4221, the second air spring;

5. Traveling mechanism; 51. Traveling cylinder; 52. Differential; 53. Transmission assembly; 531. The first transmission device; 5311, The first sprocket; 5312, The second sprocket; 532, the second gear; 5321, the first gear; 5322, the second gear; 5323, the fifth sprocket; 5324, the sixth sprocket; 5325, the seventh sprocket; 5326, the eighth sprocket;

54, walking wheel set; 541, walking wheel; 55, motor; 56, reducer; 57, differential fixing plate;

6. Brake mechanism.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

An embodiment of the present disclosure provides an in-pipe counterpart. As shown in FIG. 1 , the in-pipe counterpart includes a fixed frame 1, a tensioning mechanism 2, a power supply mechanism 3, a connection mechanism 4 and a traveling mechanism 5; the fixed frame 1 includes a front rack 11 and a middle rack 12, and the front rack 11 and the middle rack 12 are spaced apart from each other.

The tensioning mechanism 2 includes a first tensioning assembly 21 and a second tensioning assembly 22. The first tensioning assembly 21 and the second tensioning assembly 22 are annular and arranged coaxially spaced from each other. The first tensioning assembly 21 and the second tensioning assembly 22 are annular. The two tensioning assemblies 22 are respectively connected with the outer side walls of the front frame 11 .

The power supply mechanism 3 is located on the side of the middle frame 12 away from the front frame 11 ; the connection mechanism 4 includes a first flexible assembly 41 and a second flexible assembly 42 , and the first flexible assembly 41 is located on the front frame 11 and the middle frame 12 . One side of the first flexible assembly 41 is hinged with the front frame 11 , the other side of the first flexible assembly 41 is hinged with the middle frame 12 , and the second flexible assembly 42 is located in the middle frame 12 and the power supply mechanism 3 . In between, one side of the second flexible component 42 is hinged with the middle frame 12 , and the other side of the second flexible component 42 is hinged with the power supply mechanism 3 .

The traveling mechanism 5 is located on the middle frame 12 and connected with the middle frame 12 .

When welding the pipeline with the in-pipe counterpart provided by the embodiment of the present disclosure, since the in-pipe counterpart includes a fixed frame 1 , a tensioning mechanism 2 , a power supply mechanism 3 , a connection mechanism 4 and a traveling mechanism 5 , it can The fixing frame 1 is used to provide the installation foundation for other mechanisms, and the tightening mechanism 2 is attached to the inner wall of the pipe and tightened, so as to realize the abutment of the two pipe ends during welding. The power supply mechanism 3 provides power support for the mouthpiece in the entire pipeline. The walking mechanism 5 realizes that the in-pipe counterpart travels inside the pipe.

Moreover, since the connecting mechanism 4 in the in-pipe counterpart includes the first flexible component 41 and the second flexible component 42, when the in-pipe counterpart moves inside the pipe, especially when the pipe is in a curved state, it can pass the first flexible component 41 and the second flexible component 42. The flexible swing of the first flexible assembly 41 and the second flexible assembly 42 causes the axial offset between the middle frame 12 and the front frame 11 , and at the same time causes the axial offset between the middle frame 12 and the power supply mechanism 3 , and then realize that the counterpart device in the pipeline can smoothly pass through the elbow without being stuck, so that the counterpart device in the pipeline can be used normally in complex construction environments such as mountainous areas, hills, water networks, and swamps.

FIG. 2 is a top view of the in-pipe mouthpiece provided by the embodiment of the present disclosure. With reference to FIG. 2 , for example, the front frame 11 includes a guide cover 111 , a mounting seat 112 and a plurality of guide wheels 113 . The outer contour of the guide cover 111 is tapered, and the small end of the guide cover 111 is away from the middle frame 12 . The mounting seat 112 is located between the large end of the guide cover 111 and the first flexible component 41 , and two sides of the mounting seat 112 are hinged to the guide cover 111 and the first flexible component 41 respectively. A plurality of guide wheels 113 are arranged on the outer wall of the guide cover 111 at intervals along the circumferential direction of the guide cover 111 , and the guide wheels 113 are rotatably connected to the outer wall of the guide cover 111 , and the rotation direction of the guide wheels 113 is along the axis of the guide cover 111 Towards.

In the above implementation manner, the guide cover 111 is used to provide the installation base for the guide wheel 113 and the first tensioning assembly 21 , the mounting seat 112 is used to provide the installation base for the second tensioning assembly 22 , and the guide wheel 113 is used to guide the front machine The frame 11 moves, so that the front frame 11 can be guided and moved flexibly and freely when the inner counterpart moves on the inner wall of the pipeline.

Exemplarily, the first tensioning component 21 is away from the first flexible component 41 , and the second tensioning component 22 is close to the first flexible component 41 . The first tensioning assembly 21 includes a plurality of tensioning members 211 spaced along the circumference of the first tensioning assembly 21 . The tensioning members 211 include a telescopic mechanism 2111 , a strut 2112 (see FIG. 3 ) and a copper lining assembly 2113 . The telescopic mechanism 2111 is located inside the middle frame 12 and is connected to the middle frame 12; the first end of the strut 2112 is connected to the telescopic mechanism 2111 to move along the radial direction of the first tensioning assembly 21; the copper lining assembly 2113 is located in the support The outer wall of the rod 2112 is close to the second end and is connected to the strut 2112 , and the copper lining assembly 2113 protrudes from the strut 2112 toward the second tensioning assembly 22 .

In the above-mentioned implementation manner, the first tensioning assembly 21 is used for tensioning with the inner wall of one of the pipes, and the first tensioning assembly 21 is set to the above structure, and the support rod 2112 can be extended along the pipe through the expansion and contraction of the telescopic mechanism 2111 The radial movement occurs, and then it is tightly matched with the pipeline. The arrangement of the copper lining assembly 2113 enables the copper lining assembly 2113 to support and cooperate with the contact position between the pipes when the two pipes are welded to each other, thereby improving the welding quality of the pipes.

In this embodiment, the telescopic mechanism 2111 can expand and contract the cylinder and the connecting rod. The telescopic cylinder is located in the front frame 11 and connected to the front frame 11 . The telescopic cylinder has a telescopic end, and the telescopic end is away from the front frame 11 . The first end of the connecting rod is hinged with the telescopic end of the telescopic cylinder. The second end of the link is hinged with the first end of the strut 2112 .

In the above implementation, the telescopic cylinder and the connecting rod are used to provide power for the movement of the strut 2112 . Specifically, the working process of the above telescopic mechanism 2111 can be as follows: the gas delivered by the power supply mechanism 3 is connected to the telescopic cylinder, the gas pushes the piston rod in the telescopic cylinder to move along its axial direction, and the piston rod drives the strut 2112 along the first axis through the connecting rod. The radial movement of the tensioning assembly 21 is the radial direction of the inner counterpart, and then the second end of the strut 2112 moves along the radial direction of the first tensioning assembly 21, which drives the copper lining assembly 2113 to expand along the first tensioning assembly 2113 together. The radial movement of the tightening assembly 21 finally realizes that the strut 2112 and the copper lining assembly 2113 are in contact with the inner wall of the pipeline and tightened.

FIG. 3 is a schematic structural diagram of a strut and a copper bushing assembly provided by an embodiment of the present disclosure. With reference to FIG. 3 , optionally, the copper bushing assembly 2113 includes a bushing seat 2114 and a copper bushing 2115 .

FIG. 4 is a top view of the strut and copper lining assembly provided by the embodiment of the present disclosure. In conjunction with FIG. 4 , the bushing seat 2114 includes a bottom frame 21141 and a limiting plate 21142. The outer wall of the bottom frame 21141 is connected to the outer wall of the strut 2112, limiting The position plate 21142 is connected to the side of the bottom frame 21141 away from the first end of the support rod 2112, and the copper bushing 2115 is movably connected to the plate surface of the limit plate 21142 away from the first end of the support rod 2112. The moving direction of the 2115 is the same as the axial direction of the first tensioning assembly 21 .

In the above implementation manner, the bushing seat 2114 is used to provide a mounting base for the copper bushing 2115 . The copper bushing 2115 can follow the expansion and contraction of the supporting rod 2112 corresponding to itself to move up and down. When the supporting rod 2112 tightens the pipe wall, the outer surface of the copper bushing 2115 and the inner wall of the pipe can be well fitted to ensure the outer root. Internal shape and quality of welds.

FIG. 5 is a bottom view of the strut and copper lining assembly provided by the embodiment of the present disclosure. With reference to FIG. 5 , optionally, the copper lining assembly 2113 further includes a limit shaft 2116 and a spring 2117; the limit shaft 2116 is located between the strut 2112 and the Between the copper bushings 2115, the first end of the limiting shaft 2116 is connected to the outer wall of the strut 2112 through the side wall of the bottom frame 21141, and the second end of the limiting shaft 2116 is located in the bottom frame 21141 and is movably inserted Installed on the limit plate 21142; the spring 2117 is sleeved outside the limit shaft 2116, and the first end of the spring 2117 is in contact with the bottom frame 21141, and the second end of the spring 2117 is connected with the limit plate 21142.

In the above implementation manner, the expansion and contraction of the spring 2117 can adjust the axial position of the copper bushing 2115 in the lateral direction of the mouthpiece.

In this embodiment, in order to better enable all the copper bushings 2115 to form a precise circumference, a spring 2117 can be arranged between the bushing seat 2114 and the strut 2112, that is, the copper bushing 2115 with the spring 2117 adjustment can be arranged The fixedly connected copper bushings 2115 are spaced apart, which is more conducive to the rapid siege and precise circle between the copper bushings 2115.

Illustratively, copper bushings 2115 are screwed into bushing seats 2114.

FIG. 6 is a side view of the strut and copper lining assembly provided by the embodiment of the present disclosure. In conjunction with FIG. 6 , for example, the copper lining 2115 is an isosceles trapezoid block, and the copper lining 2115 has two side waists, two sides The waists are respectively located on opposite sides of the arc surface of the copper bushing 2115 , and the side waists between two adjacent copper bushings 2115 are attached together.

In the above-mentioned implementation manner, the copper bushing 2115 adopts a structure with an arc surface and an isosceles trapezoid projection plane, which is beneficial to the good fit between the surface of the copper bushing 2115 and the inner wall of the pipe, and at the same time, it can ensure the copper bushing 2115 smooth lift.

Exemplarily, the strut 2112 includes an extension rod 21121 and an extension shoe 21122, the extension rod 21121 corresponds to the connecting rod one-to-one, the first end of the extension rod 21121 is hinged with the second end of the corresponding connecting rod, and the extension shoe 21122 is connected to the connecting rod. At the second end of the rod 21121.

The side of the expansion shoe 21122 away from the expansion rod 21121 has a concave surface and two convex arc surfaces (see Figure 4), the convex arc surfaces are arranged at intervals along the circumferential direction of the tensioning mechanism 2, and the convex arc surfaces are used to fit on the inner wall of the pipeline, The concave surface is located between the two convex arc surfaces and is connected with the convex arc surfaces, and the concave surface is recessed between the convex arc surfaces along the radial direction of the tensioning mechanism 2 .

In the above implementation manner, the convex arc surface is used to fit the inner wall of the pipeline to realize the tightening of the pipeline, and the concave surface is used to install the connecting screw between the expansion shoe 21122 and the expansion rod 21121 to prevent the screw from protruding out of the convex surface. The cambered surface affects the fit and tightening of the convex cambered surface and the inner wall of the pipe.

In this embodiment, the second tensioning assembly 22 is similar to the first tensioning assembly 21 except that the copper lining assembly 2113 is not included, and its structure will not be repeated here.

Referring to FIG. 2 again, optionally, the power supply mechanism 3 can be an integrated body of a battery and a gas tank, which can provide electric power for the motor to realize motor driving and compressed gas driving, and can perform fast switching in different ways.

A plurality of air tank floating wheels 31 are installed on the outer surface of the power supply mechanism 3 . The gas tank floating wheels 31 have the function of floating support, and also facilitate the power supply mechanism 3 to follow the middle frame 12 to walk easily.

Continuing to refer to FIG. 2 , optionally, the first flexible assembly 41 includes a first connecting seat 411 and two first air spring groups 412 . Two sides of the first connecting base 411 are hinged with the front frame 11 and the middle frame 12 respectively.

The two first air spring groups 412 are respectively located on opposite sides of the first connection seat 411 , and one of the two first air spring groups 412 is located between the first connection seat 411 and the front frame 11 and faces away from the first connection One end of the seat 411 is used for abutting against the front frame 11, the other of the two first air spring groups 412 is located between the first connecting seat 411 and the middle frame 12, and the end facing away from the first connecting seat 411 is used for Abutting against the middle frame 12 , the two first air spring groups 412 are respectively communicated with the power supply mechanism 3 .

In the above implementation manner, the first connecting seat 411 is used for connecting with the front frame 11 and the middle frame 12 , and also provides an installation basis for the first air spring group 412 . The first air spring group 412 is in communication with the power supply mechanism 3 , so that the first air spring group 412 can be inflated to achieve a rigid connection between the middle frame 12 and the front frame 11 , and the first air spring group 412 can be deflated by deflating the first air spring group 412 . , to realize the flexible connection between the middle frame 12 and the front frame 11 .

Optionally, the second flexible assembly 42 includes a second connection seat 421 and two second air spring groups 422 . Two sides of the second connecting base 421 are hinged with the middle frame 12 and the power supply mechanism 3 respectively.

The two second air spring groups 422 are located on opposite sides of the second connection seat 421 respectively, and one of the two second air spring groups 422 is located between the second connection seat 421 and the middle frame 12 and faces away from the second connection One end of the seat 421 is used for abutting against the middle frame 12, the other of the two second air spring groups 422 is located between the second connecting seat 421 and the power supply mechanism 3, and the end facing away from the second connecting seat 421 is used for Against the power supply mechanism 3 , the two second air spring groups 422 are communicated with the power supply mechanism 3 respectively.

In the above implementation manner, the second connection seat 421 is used for connecting with the middle frame 12 and the power supply mechanism 3 , and also provides an installation basis for the second air spring group 422 . In use, when the second air spring group 422 is inflated, the middle frame 12 and the power supply mechanism 3 are connected in a flexible manner. By deflating the second air spring group 422, the middle frame 12 and the power supply mechanism 3 are connected It becomes a flexible connection between the two, and prepares in advance for the inner mouthpiece to pass the elbow.

Exemplarily, the first air spring group 412 includes a plurality of first air springs 4121, and the first air springs 4121 are circumferentially arranged along the outer edge of the first connecting seat 411; the second air spring group 422 includes a plurality of second air springs 4221 , each second air spring 4221 is circumferentially arranged along the outer edge of the second connecting seat 421 .

In the above implementation manner, the first air spring group 412 and the second air spring group 422 are provided as multiple air springs (the first air spring 4121 and the second air spring 4221), which can simplify the first air spring group 412 and the second air spring group 412. The structure of the two air spring groups 422 can meet the actual use requirements at the same time.

FIG. 7 is a schematic structural diagram of a traveling mechanism provided by an embodiment of the present disclosure. With reference to FIG. 7 , by way of example, the traveling mechanism 5 includes a traveling cylinder 51 , a differential 52 , a transmission assembly 53 and two traveling wheel sets 54 ; the traveling cylinder 51 Located inside the middle frame 12 and connected to the middle frame 12, the travel cylinder 51 has two telescopic ends, and the telescopic direction of the travel cylinder 51 is perpendicular to the axis of the first tensioning assembly 21; the differential 52 is close to the travel cylinder 51, and connected to the middle frame 12, the traveling cylinder 51 and the differential 52 are respectively connected to the power supply mechanism 3 in a transmission connection; .

The two traveling wheel groups 54 are respectively located at the two telescopic ends of the traveling cylinder 51. The traveling wheel groups 54 are in one-to-one correspondence with the output ends of the traveling cylinder 51, and are respectively connected with the telescopic ends. The two traveling wheel groups 54 are respectively connected with the transmission assembly 53. drive connection.

In the above implementation manner, the traveling cylinder 51 is used to extend the traveling wheel group 54. When the traveling mechanism is required to travel, the traveling air cylinder 51 can be controlled to realize that the traveling wheel group 54 extends out of the middle frame 12 so as to stick to the Together to walk on the inner wall of the pipe. On the contrary, it is not necessary to extend the travel wheel set 54.

The differential 52 is used to output the power in the power supply mechanism 3 to the traveling wheel set 54 with different powers, so that the traveling wheel set 54 can travel at different speeds. The transmission assembly 53 is used to transmit the power transmission of the differential 52 to the traveling wheel set 54 to realize the transmission connection between the traveling wheel set 54 and the differential 52 .

FIG. 8 is a front view of the differential provided by the embodiment of the present disclosure. In conjunction with FIG. 8 , by way of example, the differential 52 is connected to the middle frame 12 through the differential fixing plate 57 , and the differential fixing plate 57 It protects the differential 52 .

FIG. 9 is a top view of the traveling mechanism provided by the embodiment of the present disclosure. With reference to FIG. 9 , optionally, the traveling mechanism 5 further includes a motor 55 and a reducer 56 . The motor 55 is located in the middle frame 12 and is connected to the middle frame 12 , The input end of the motor 55 is connected with the output end of the power supply mechanism 3, the reducer 56 is located in the middle frame 12 and connected with the middle frame 12, the input end of the reducer 56 is connected with the output end of the motor 55, and the speed reducer 56 is connected to the output end of the motor 55. The output is connected to the differential 52 .

In the above implementation manner, the motor 55 and the reducer 56 are used to provide a direct power source for the differential 52, so that the differential 52 has power.

FIG. 10 is a top view of the differential provided by the embodiment of the present disclosure. With reference to FIG. 10 , optionally, the transmission assembly 53 includes a first transmission device 531 and a second transmission device 532 . The first transmission device 531 and the second transmission device 532 are respectively located on opposite sides of the differential 52, and the first transmission device 531 is drivingly connected to the output shaft of the differential 52, and one of the two traveling wheel sets 54 is connected to the first transmission A transmission device 531 is connected to each other, the second transmission device 532 is connected to the output shaft of the differential 52 in a transmission connection, and the other of the two traveling wheel sets 54 is connected to the second transmission device 532 .

FIG. 11 is a partial structural schematic diagram of a walking mechanism provided by an embodiment of the present disclosure. FIG. 12 is a rear view of the partial structure of the walking mechanism provided by the embodiment of the present disclosure. 11 and 12 , the first transmission device 531 includes a first sprocket 5311 (see FIG. 10 ), a second sprocket 5312 , a third sprocket 5313 and a fourth sprocket 5314 , the first sprocket 5311 is sleeved on the differential On one of the output ends of the speeder 52, the second sprocket 5312 is located on the middle frame 12, and is in driving connection with the first sprocket 5311, and the third sprocket 5313 is located on the middle frame 12, and is connected with the second sprocket. 5312 is coaxially connected, the fourth sprocket 5314 is located on the middle frame 12, and is connected to the third sprocket 5313 in a transmission connection, one of the two traveling wheel sets 54 is connected to the third sprocket 5313 and the fourth sprocket 5314 .

The second transmission 532 includes a first gear 5321 , a second gear 5322 (see FIG. 13 ), a fifth sprocket 5323 , a sixth sprocket 5324 , a seventh sprocket 5325 , and an eighth sprocket 5326 . The first gear 5321 is sleeved on the other output end of the differential 52 , and the second gear 5322 is located on the middle frame 12 and meshes with the first gear 5321 .

The fifth sprocket 5323 is located on the middle frame 12 and is coaxially connected to the second gear 5322, the sixth sprocket 5324 is located on the middle frame 12, and is connected to the fifth sprocket 5323 in a driving manner, and the seventh sprocket 5325 It is located on the middle frame 12 and is coaxially connected to the sixth sprocket 5324. The eighth sprocket 5326 is located on the middle frame 12 and is connected to the seventh sprocket 5325. One is connected to the third sprocket 5313 and the fourth sprocket 5314.

In the above-mentioned implementation manner, the above arrangement can conveniently transmit different powers of the two output ends of the differential 52 to the two traveling wheel sets 54 to realize different traveling speeds of the traveling wheel sets 54 .

In this embodiment, the sixth sprocket 5324, the fourth sprocket 5314, the third sprocket 5313 and the fifth sprocket 5323 are on the same plane, the seventh sprocket 5325, the eighth sprocket 5326, the second gear 5322 and the A sprocket 5311 is in the same plane, and is connected and driven by a chain or a pulley.

Referring again to FIG. 1 , the in-pipe counterpart also includes a braking mechanism 6 , which is located inside the middle frame 12 and is connected to the middle frame 12 , and the braking mechanism 6 is connected to the traveling mechanism 5 .

In the above implementation manner, the braking mechanism 6 does not brake the traveling mechanism 5. When the in-pipe counterpart needs to stop walking in the pipeline, the braking mechanism 6 can be controlled so that the in-pipe counterpart can park in real time to avoid its Sliding in the pipe, thereby affecting the counterpart accuracy.

The working mode of the in-pipe mouthpiece provided by the embodiment of the present disclosure is briefly described below:

First, before entering the pipeline, the first flexible component 41 and the second flexible component 42 are inflated to reach their rated pressure, and the pipeline internal counterpart is in a rigid state at this time.

Next, the front frame 11, the tensioning mechanism 2, the connecting mechanism 4, etc. are hoisted into the pipe. After the middle frame 12 enters the pipeline, the middle piston rod in the traveling cylinder 51 extends and drives the four traveling wheels 541 of the two traveling wheel groups 54 to spread out against the inner wall of the pipeline. Starting the motor 55 can realize the walking function of the mouthpiece in the pipe, so that the mouthpiece in the pipe can be quickly inserted into the pipe.

When the mouthpiece in the pipeline passes through the bend, the gas in the first flexible assembly 41 and the second flexible assembly 42 can be properly exhausted to prevent some parts from being over-compressed during the bend. The motor 55, the reducer 56 and the differential 52 are activated at the same time, and the two output ends of the differential 52 are respectively connected to the first sprocket 5311 and the first gear 5321, and drive them to rotate.

When the first gear 5321 rotates, the second gear 5322 meshes with the first gear 5321, so the second gear 5322 rotates in the opposite direction and drives the fifth sprocket 5323 to rotate in the same direction. The fifth sprocket 5323 drives the sixth sprocket 5324 to rotate through the chain, the sixth sprocket 5324 coaxially drives the seventh sprocket 5325 to rotate, the seventh sprocket 5325 rotates in the same direction, and at the same time drives the eighth sprocket 5326 to rotate through the chain . Therefore, the two traveling wheels 541 in one of the traveling wheel sets 54 in the traveling mechanism rotate in the opposite direction to the output shaft of the differential 52 .

When the first sprocket 5311 rotates, the first sprocket 5311 drives the second sprocket 5312 to rotate through the chain, the second sprocket 5312 is coaxial with the third sprocket 5313 , and the third sprocket 5313 follows the second sprocket 5312 When the direction rotates, the third sprocket 5313 drives the fourth sprocket 5314 to rotate through the chain at the same time. Therefore, the two traveling wheels 541 in the other traveling wheel set 54 in the traveling mechanism rotate in the same direction as the output shaft of the other end of the differential 52, so that the traveling mechanism 5 can travel in the tube.

It can be seen that, with the help of the differential 52, the traveling speeds of the traveling wheels 541 on the upper and lower sides of the traveling mechanism 5 are inconsistent, one side is too large, and the other side is too small, and the mouthpiece in the pipeline can smoothly pass through the bend. After the inner counterpart passes through the bend, the brake mechanism 6 can be activated when it walks to a suitable position at one end of the pipeline to be assembled and welded. The brake mechanism 6 makes the pipe counterpart stop reliably, preventing it from sliding in the pipeline and affecting the counterpart accuracy. . At the same time, the expansion shoe in the second tensioning assembly 22 extends and tensions the inner wall of the pipe.

The other pipe to be paired is approached by the pipe hanger to the pipe counterpart. After the requirement for no gap alignment of the nozzles is met, the expansion shoe 21122 in the first tightening component 21 of the counterpart in the pipeline is stretched out and tightened. At the same time, the expansion shoe 21122 in the first tensioning component 21 drives the copper bushing component 2113 to lift up, so as to realize the precise rounding between the copper bushings 2115 and the close contact between the surface of the copper bushing 2115 and the inner wall of the pipeline, and complete the pipe wall. Oral pair.

When the outer root welding is completed, retract the expansion shoes 21122 and copper lining components 2113 in the first tensioning assembly 21 and the second tensioning assembly 22, and activate the walking function of the counterpart in the pipeline, so that it travels to the next stage to wait. Group the nozzles, and then repeat the above actions.

The above are only optional embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure. Inside.

Claims (10)

1. An in-pipe counterpart, characterized in that the in-pipe counterpart comprises a fixed frame (1), a tightening mechanism (2), a power supply mechanism (3), a connection mechanism (4) and a traveling mechanism ( 5); The fixed frame (1) comprises a front frame (11) and a middle frame (12), and the front frame (11) and the middle frame (12) are spaced apart from each other; The tensioning mechanism (2) includes a first tensioning assembly (21) and a second tensioning assembly (22), and the first tensioning assembly (21) and the second tensioning assembly (22) are rings The first tensioning assembly (21) and the second tensioning assembly (22) are respectively connected with the outer side wall of the front frame (11); The power supply mechanism (3) is located on the side of the middle frame (12) away from the front frame (11); The connecting mechanism (4) includes a first flexible assembly (41) and a second flexible assembly (42), and the first flexible assembly (41) is located between the front frame (11) and the middle frame (12) ), and one side of the first flexible component (41) is hinged with the front frame (11), and the other side of the first flexible component (41) is connected with the middle frame (12) Hinged, the second flexible assembly (42) is located between the middle frame (12) and the power supply mechanism (3), and one side of the second flexible assembly (42) is connected to the middle frame The frame (12) is hinged, and the other side of the second flexible component (42) is hinged with the power supply mechanism (3); The traveling mechanism (5) is located on the middle frame (12) and is connected with the middle frame (12). 2. The in-pipe mouthpiece according to claim 1, wherein the first flexible component (41) comprises a first connecting seat (411) and two first air spring groups (412); Both sides of the first connecting seat (411) are hinged with the front frame (11) and the middle frame (12) respectively; The two first air spring groups (412) are respectively located on opposite sides of the first connection seat (411), and one of the two first air spring groups (412) is located in the first connection seat Between (411) and the front frame (11), and the end away from the first connecting seat (411) is used to abut against the front frame (11), the two first air spring groups The other one of (412) is located between the first connecting seat (411) and the middle frame (12), and the end away from the first connecting seat (411) is used for connecting with the middle frame (12) are offset, and the two first air spring groups (412) are respectively communicated with the power supply mechanism (3). 3. The in-pipe mouthpiece according to claim 2, wherein the second flexible component (42) comprises a second connection seat (421) and two second air spring groups (422); Both sides of the second connecting seat (421) are hinged with the middle frame (12) and the power supply mechanism (3) respectively; The two second air spring groups (422) are respectively located on opposite sides of the second connection seat (421), and one of the two second air spring groups (422) is located in the second connection seat Between (421) and the middle frame (12), and the end away from the second connecting seat (421) is used to abut against the middle frame (12), two second air spring sets The other one of (422) is located between the second connection seat (421) and the power supply mechanism (3), and the end away from the second connection seat (421) is used for connecting with the power supply mechanism (3) offset, the two second air spring groups (422) are respectively communicated with the power supply mechanism (3). The in-pipe mouthpiece according to claim 3, wherein the first air spring group (412) comprises a plurality of first air springs (4121), and the first air springs (4121) are arranged along the The outer edge of the first connecting seat (411) is circumferentially arranged; The second air spring group (422) includes a plurality of second air springs (4221), and each of the second air springs (4221) is circumferentially arranged along the outer edge of the second connection seat (421). The in-pipe counterpart according to claim 1, characterized in that the traveling mechanism (5) comprises a traveling cylinder (51), a differential (52), a transmission assembly (53) and two traveling wheel sets (54); The traveling cylinder (51) is located inside the middle frame (12) and is connected to the middle frame (12), the traveling cylinder (51) has two telescopic ends, and the traveling cylinder ( The telescopic direction of 51) is perpendicular to the axis of the first tensioning assembly (21); The differential (52) is close to the traveling cylinder (51) and is connected to the middle frame (12), and the traveling cylinder (51) and the differential (52) are respectively connected to the power Supply mechanism (3) drive connection; The transmission assembly (53) is close to the differential (52), and the transmission assembly (53) is in driving connection with the output end of the differential (52); Two traveling wheel sets (54) are respectively located at the two telescopic ends of the traveling cylinder (51), and the traveling wheel sets (54) are in one-to-one correspondence with the output ends of the traveling cylinder (51), and are respectively connected to the output ends of the traveling cylinder (51). The telescopic ends are connected, and the two traveling wheel sets (54) are respectively connected to the transmission assembly (53) for transmission. 6. The in-pipe counterpart according to claim 5, characterized in that, the transmission assembly (53) comprises a first transmission device (531) and a second transmission device (532); The first transmission device (531) and the second transmission device (532) are respectively located on opposite sides of the differential (52), and the first transmission (531) is connected to the differential The output shaft of (52) is connected by transmission, and one of the two traveling wheel sets (54) is connected with the first transmission device (531); The second transmission device (532) is drivingly connected with the output shaft of the differential (52), and the other of the two traveling wheel sets (54) is connected with the second transmission device (532). 7. The pipe internal counterpart according to claim 1, wherein the first tensioning component (21) is far away from the first flexible component (41), and the second tensioning component (22) is close to The first flexible assembly (41), the first tensioning assembly (21) includes a plurality of tensioning members (211) spaced along the circumference of the first tensioning assembly (21), The tightening member (211) includes a telescopic mechanism (2111), a strut (2112) and a copper lining assembly (2113); The telescopic mechanism (2111) is located inside the middle frame (12) and is connected to the middle frame (12); The first end of the strut (2112) is connected with the telescopic mechanism (2111) to move along the radial direction of the first tensioning assembly (21); The copper lining assembly (2113) is located at a position near the second end of the outer wall of the strut (2112), and is connected to the strut (2112), and the copper lining assembly (2113) is tightened toward the second The assembly (22) protrudes from the strut (2112). 8. The pipe inner counterpart according to claim 7, wherein the copper lining assembly (2113) comprises a lining seat (2114) and a copper lining (2115); The bushing seat (2114) includes a bottom frame (21141) and a limit plate (21142), the outer wall of the bottom frame (21141) is connected with the outer wall of the strut (2112), and the limit plate (21142) ) is connected to the side of the bottom frame (21141) away from the first end of the strut (2112), and the copper bushing (2115) is movably connected to the limit plate (21142) away from the On the plate surface of the first end of the strut (2112), the moving direction of the copper bushing (2115) is the same as the axial direction of the first tensioning assembly (21), and the copper bushing (2115) is far away from One side surface of the bottom plate of the bush seat (2114) is a circular arc surface, and the circular arc surface is coaxial with the first tensioning component (21). 9 . The mouthpiece in the pipeline according to claim 8 , wherein the copper bushing ( 2115 ) is an isosceles trapezoid block, and the copper bushing ( 2115 ) has two side waists, and the two said The side waists are respectively located on opposite sides of the circular arc surface of the copper bushing (2115), and the side waists between two adjacent copper bushings (2115) are attached together. 10. The in-pipe counterpart according to claim 8, wherein the copper lining assembly (2113) further comprises a limit shaft (2116) and a spring (2117); The limiting shaft (2116) is located between the strut (2112) and the copper bushing (2115), and the first end of the limiting shaft (2116) passes through the bottom frame (21141) The side wall is connected to the outer wall of the strut (2112), the second end of the limit shaft (2116) is located in the bottom frame (21141) and is movably inserted into the limit plate (21142) )superior; The spring (2117) is sleeved outside the limiting shaft (2116), the first end of the spring (2117) is in contact with the bottom frame (21141), and the second end of the spring (2117) is in contact with the bottom frame (21141). The limit plates (21142) are connected.

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