A six-degree-of-freedom round tube welding auxiliary device

Abstract

The present invention relates to the technical field of round tube welding, and proposes a six-degree-of-freedom round tube welding auxiliary device, comprising a base, having a plurality of moving components, the moving components being used to move the base; a first sliding frame being slidably arranged on the base; a second sliding frame being slidably arranged on the first sliding frame, the first sliding frame being perpendicular to the sliding direction of the second sliding frame; a lifting frame being lifted and lowered on the second sliding frame; a rotating frame being rotatably arranged on the lifting frame, the rotating axis of the rotating frame being perpendicular to the ground; and a supporting frame being arranged on the rotating frame, the supporting frame being used to support the circumferential surface of the round tube. Through the above technical scheme, the problem of difficulty in transportation during the transportation of round tubes in the prior art is solved.

Description

Technical Field

[0001] The invention relates to the technical field of round tube welding, and in particular to a six-degree-of-freedom round tube welding auxiliary device. Background Art

[0002] When welding large round pipes, the transportation of the pipes and the butt joint before welding have always been an important link. However, traditional transportation methods and equipment often have many limitations.

[0003] Under previous technical conditions, transportation equipment can usually only adapt to a single road condition, such as only being able to travel on roads or only being able to operate on railways. The butt jointing of round pipes before welding also requires the use of large cranes and other equipment, which often results in strict environmental restrictions when facing different construction environments. In some special cases, equipment such as cranes are not easy to park. In order to allow cranes and other equipment to enter the vicinity of the construction site, it often takes a lot of time and manpower costs, which seriously affects the construction efficiency and increases the difficulty and complexity of the construction. Summary of the invention

[0004] The present invention provides a six-degree-of-freedom round tube welding auxiliary device, which solves the problem of difficulty in transportation during the round tube transportation process in the related art.

[0005] The technical solution of the present invention is as follows:

[0006] A six-degree-of-freedom round tube welding auxiliary device, comprising:

[0007] A base having a plurality of moving components, wherein the moving components are used for moving the base;

[0008] A first sliding frame, slidably disposed on the base;

[0009] A second sliding frame, slidably disposed on the first sliding frame, wherein the sliding directions of the first sliding frame and the second sliding frame are perpendicular;

[0010] A lifting frame, which is lifted and arranged on the second sliding frame;

[0011] A rotating frame, rotatably arranged on the lifting frame, wherein the rotating axis of the rotating frame is perpendicular to the ground;

[0012] The support frame is arranged on the rotating frame, and the support frame is used to support the circumferential surface of the circular tube.

[0013] Optionally, it also includes:

[0014] There are several rollers, all of which are rotatably arranged on the support frame, the rotation axis of the rollers is parallel to the axis of the circular tube, the several rollers are distributed in sequence along the circular arc direction of the circular tube, and the support frame supports the circular arc surface of the circular tube through the several rollers.

[0015] Optionally, it also includes:

[0016] A transmission shaft is rotatably arranged on the support frame, the transmission shaft is arranged on the roller, and the rotation axis of the transmission shaft coincides with the rotation axis of the roller;

[0017] A gear, arranged on the transmission shaft;

[0018] A rack is slidably arranged on the support frame, the rack is meshed with the gear for transmission, the rack is arc-shaped, and the rack slides along the arc direction of the circular tube.

[0019] Optionally, the rack has a raised portion, and the raised portion passes through the support frame, further comprising:

[0020] A telescopic member, arranged on the support frame;

[0021] A sliding sleeve is arranged at the telescopic end of the telescopic member, the sliding sleeve has a sliding groove, the length direction of the sliding groove is perpendicular to the telescopic direction of the telescopic member, the protrusion is slidably arranged in the sliding groove, and the telescopic member pushes the rack to slide through the sliding sleeve.

[0022] Optionally, it also includes:

[0023] There are at least two clamping members, which are slidably arranged at the two ends of the support frame, respectively. The clamping members at the two ends of the support frame slide closer to or farther away from each other, and there is a clamping space between the clamping members, and the clamping space is used to clamp the round tube abutting against the roller;

[0024] An elastic member, with two ends respectively arranged on the clamping member and the support frame, and the elastic member is used to provide a force for the clamping members at two ends of the support frame to approach each other.

[0025] Optionally, the clamping member is a rotating wheel.

[0026] Optionally, the roller and the clamping element surface have a shock-absorbing friction layer.

[0027] Optionally, the plurality of moving components include at least two groups, each group of moving components is sequentially distributed along the moving direction of the base, and each group of moving components includes:

[0028] A rotating rod is rotatably arranged relative to the base, and a rotating axis of the rotating rod is perpendicular to a forward direction of the base;

[0029] There are two wheels, which are respectively arranged on both sides of the rotating rod. The axis of the wheel coincides with the axis of the rotating rod. The wheel is used to contact the ground.

[0030] Optionally, the lifting frame has a spherical groove, the rotating frame has a spherical surface, the spherical surface is located in the spherical groove, and the spherical surface abuts against the inner wall of the spherical groove, the lifting frame has a swing groove, and the swing groove is connected to the spherical groove, and further includes:

[0031] A telescopic frame, one end of which is arranged on the base, a group of the moving components are arranged on the telescopic frame, and after the telescopic frame is extended and retracted, the base is tilted;

[0032] A gravity shaft has one end arranged on the rotating frame and the other end located in the swing groove. The axis of the gravity shaft coincides with the rotation axis of the rotating frame. The gravity shaft is used to provide a force for rotating the rotating frame to a horizontal position.

[0033] Optionally, it also includes:

[0034] There are several electric cylinders, and the electric cylinders are used to drive the first sliding frame, the second sliding frame, and the lifting frame.

[0035] The working principle and beneficial effects of the present invention are:

[0036] In the present invention, the base is equipped with multiple moving components, so that the support vehicle can freely shuttle between two different road conditions, highway and railway, which greatly expands the applicable scope of transportation and reduces the transportation difficulties caused by road condition restrictions.

[0037] The rotatable design of the rotating frame relative to the base can flexibly adjust the direction and angle of the round tube according to actual needs, which is more convenient to adapt to complex road environments during transportation. When multiple support vehicles support a round tube, the rotating frame of the first support vehicle is fixed to the chassis by a latch or a clip, and the rotating frames on the other support vehicles can rotate relative to the base. When the first support vehicle turns, the rotating frames on the other support vehicles rotate to adapt to the turning transportation of the round tube.

[0038] The first sliding frame can slide along a specific direction on the base, the second sliding frame can slide along a direction perpendicular to the first sliding frame, and the lifting frame is lifted and lowered on the second sliding frame. When the position of the round tube needs to be adjusted in the horizontal direction, the position change in the two horizontal directions can be achieved by controlling the sliding of the first sliding frame on the base and the sliding of the second sliding frame on the first sliding frame. Subsequently, the height of the round tube is adjusted by the lifting action of the lifting frame.

[0039] The combined sliding of the first sliding frame and the second sliding frame greatly expands the position adjustment range of the round tube on the horizontal plane, allowing it to reach the designated position more accurately. Secondly, the use of the lifting frame realizes the free movement and positioning of the round tube in three-dimensional space, improving the flexibility and adaptability of the device. Furthermore, this multi-dimensional adjustment method helps to quickly and accurately complete the arrangement and operation of the round tube in a complex working environment, greatly improving work efficiency.

[0040] The setting of the lifting frame increases the adaptability of the device to working scenes at different heights, and can meet the transportation and operation requirements of round tubes at different heights. Secondly, through the combined action of lifting and rotating, the position and angle adjustment of the round tube are more flexible and diverse, which improves the versatility and practicality of the device. Furthermore, the round tube can be positioned more accurately to the required position, which helps to improve work efficiency and operation accuracy.

[0041] When the round tubes are to be butt-jointed before welding at the work site, the butt-jointing angle can be adjusted by adjusting the first sliding frame, the second sliding frame, the lifting frame, and the rotating frame, which is not only conducive to reducing the difficulty of butt-jointing between the round tubes, but also applicable to the butt-jointing of more round tubes, such as the butt-jointing of round tubes at turns. The device can significantly improve the work efficiency and installation accuracy.

[0042] The support frame can stably support the circumferential surface of the round tube, effectively preventing the round tube from shaking, displacement or even damage during transportation and operation, ensuring the safe transportation and integrity of the round tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The preferred implementation modes will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0044] Figure 1 It is a schematic diagram of the structure of the present invention;

[0045] Figure 2 For the present invention Figure 1 The enlarged structural diagram at A in the middle;

[0046] Figure 3 It is a cross-sectional view of the present invention.

[0047] In the figure: 100, base, 200, moving component, 300, rotating frame, 400, supporting frame, 420, roller, 430, transmission shaft, 450, gear, 460, rack, 461, protrusion, 470, telescopic member, 480, sliding sleeve, 481, slide groove, 510, clamping member, 511, clamping space, 520, elastic member, 600, lifting frame, 610, spherical groove, 620, swing groove, 310, spherical surface, 320, centroid axis, 710, first sliding frame, 720, second sliding frame, 210, rotating rod, 220, wheel, 230, telescopic frame, 800, electric cylinder. DETAILED DESCRIPTION

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0049] In order to simplify the drawings, only the parts related to the invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically shown, or only one of them is marked. In this article, "one" not only means "only one", but also means "more than one", and "several" includes "two" and "more than two".

[0050] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0052] Reference Figure 1~Figure 3The present invention proposes a six-degree-of-freedom round tube welding auxiliary device, comprising: a first sliding frame 710 is slidably arranged on a base 100; a second sliding frame 720 is slidably arranged on the first sliding frame 710, and the sliding directions of the first sliding frame 710 and the second sliding frame 720 are perpendicular. A lifting frame 600 is lifted and arranged on the second sliding frame 720, and a rotating frame 300 is rotatably arranged on the lifting frame 600, and the rotating axis of the rotating frame 300 is perpendicular to the ground, and the rotating frame 300 is located on the side of the lifting frame 600 away from the base 100. The base 100 has a plurality of moving components 200, and the moving components 200 are used to move the base 100; a supporting frame 400 is arranged on the rotating frame 300, and the supporting frame 400 is used to support the circumferential surface of the round tube.

[0053] In this embodiment, the base 100 is equipped with multiple moving components 200, which enables the support vehicle to freely shuttle between two different road conditions, namely, highway and railway, which greatly expands the applicable scope of transportation and reduces the transportation difficulties caused by road conditions.

[0054] The rotatable design of the rotating frame 300 relative to the base 100 can flexibly adjust the direction and angle of the round tube according to actual needs, which is more convenient to adapt to complex road environments during transportation. When multiple support vehicles support a round tube, the rotating frame 300 of the first support vehicle is fixed to the chassis through a latch or a clamp 510, and the rotating frames 300 on other support vehicles can rotate relative to the base 100. When the first support vehicle turns, the rotating frames 300 on other support vehicles rotate to adapt to the turning transportation of the round tube.

[0055] The first sliding frame 710 can slide along a specific direction on the base 100, and the second sliding frame 720 can slide along a direction perpendicular to the first sliding frame 710, and the lifting frame 600 is lifted and lowered on the second sliding frame 720. When the position of the round tube needs to be adjusted in the horizontal direction, the position change in the two directions can be achieved by controlling the sliding of the first sliding frame 710 on the base 100 and the sliding of the second sliding frame 720 on the first sliding frame 710. Subsequently, the height of the round tube is adjusted by the lifting action of the lifting frame 600.

[0056] The combined sliding of the first sliding frame 710 and the second sliding frame 720 greatly expands the position adjustment range of the round tube on the horizontal plane, allowing it to reach the designated position more accurately. Secondly, the use of the lifting frame 600 realizes the free movement and positioning of the round tube in three-dimensional space, improving the flexibility and adaptability of the device. Furthermore, this multi-dimensional adjustment method helps to quickly and accurately complete the arrangement and operation of the round tube in a complex working environment, greatly improving work efficiency.

[0057] The setting of the lifting frame 600 increases the adaptability of the device to working scenes at different heights, and can meet the transportation and operation requirements of round tubes under different height requirements. Secondly, through the combined action of lifting and rotating, the position and angle adjustment of the round tube are more flexible and diverse, which improves the versatility and practicality of the device. Furthermore, the round tube can be positioned to the required position more accurately, which helps to improve work efficiency and operation accuracy.

[0058] When the round tubes are to be butt-jointed before welding at the work site, the butt-jointing angle can be adjusted by adjusting the first sliding frame 710, the second sliding frame 720, the lifting frame 600, and the rotating frame 300, which is not only conducive to reducing the difficulty of butt-jointing between the round tubes, but also applicable to the butt-jointing of more round tubes, such as the butt-jointing of round tubes at a bend. The device can significantly improve the work efficiency and installation accuracy.

[0059] The support frame 400 can stably support the circumferential surface of the round tube, effectively preventing the round tube from shaking, shifting or even being damaged during transportation and operation, thereby ensuring the safe transportation and integrity of the round tube.

[0060] Furthermore, it also includes: there are several rollers 420, all of which are rotatably set on the support frame 400, the rotation axis of the roller 420 is parallel to the axis of the circular tube, the several rollers 420 are distributed in sequence along the arc direction of the circular tube, and the several rollers 420 are used to abut against the circumferential surface of the circular tube.

[0061] In this embodiment, the round tube is placed on the roller 420 of the support frame 400. Since the roller 420 is rotatable, when the angle of the round tube needs to be adjusted, the friction between the roller 420 and the round tube can be used to drive the roller 420 to rotate to achieve the purpose of rotating the round tube. When two round tubes are butt-joined, the roller 420 is used to rotate the round tubes to avoid the welds of the two round tubes being butt-joined to a straight line, thereby meeting the process requirements.

[0062] By driving the roller 420 to rotate the round tube, accurate control of the round tube docking is achieved, ensuring that the welds can be effectively avoided from being in the same straight line during the docking process, greatly improving the docking process quality and structural stability. The device avoids the straight-line docking of the welds, which is conducive to dispersing stress distribution, significantly reduces the possibility of forming structural weak links due to weld concentration, and greatly enhances the overall strength and reliability.

[0063] The way that the roller 420 drives the round tube to rotate not only significantly improves the convenience and flexibility of operation, effectively reduces the labor intensity of workers, and significantly improves work efficiency. It can also accurately control the rotation and docking angle of the round tube, making the transportation of the round tube and the docking operation before welding more flexible, and can better meet the requirements of various complex processes.

[0064] Furthermore, it also includes: a transmission shaft 430 is rotatably set on the support frame 400, one end of the transmission shaft 430 is set on the roller 420, and the rotation axis of the transmission shaft 430 coincides with the rotation axis of the roller 420; the gear 450 is set on the transmission shaft 430; the rack 460 is slidably set on the support frame 400, the rack 460 is meshed with the gear 450 for transmission, the rack 460 is arc-shaped, and the rack 460 slides along the arc direction of the circular tube.

[0065] In this embodiment, when it is necessary to drive the roller 420 to rotate to adjust the angle of the circular tube, the rack 460 is pushed to slide along the arc direction of the circular tube. The movement of the rack 460 drives the gear 450 meshing with it to rotate, and then drives the roller 420 to rotate through the transmission shaft 430 to achieve the angle adjustment of the circular tube.

[0066] Through the meshing transmission of the rack 460 and the gear 450, not only can the rotation angle of the roller 420 be accurately controlled, so as to achieve accurate adjustment of the angle of the round tube, and meet the high-precision requirements when the round tube is docked. In addition, the arc-shaped rack 460 slides along the arc direction of the round tube. This design conforms to the shape characteristics of the round tube, making the transmission more stable and efficient. Furthermore, this mechanical transmission structure is simple and reliable, easy to maintain and operate, and reduces the failure rate and maintenance cost of the equipment.

[0067] Furthermore, the rack 460 has a protrusion 461, which passes through the support frame 400, and also includes: a telescopic member 470 is arranged on the support frame 400; a sliding sleeve 480 is arranged at the telescopic end of the telescopic member 470, and the sliding sleeve 480 has a sliding groove 481, and the length direction of the sliding groove 481 is perpendicular to the telescopic direction of the telescopic member 470, and the protrusion 461 is slidably arranged in the sliding groove 481, and the telescopic member 470 pushes the rack 460 to slide through the sliding sleeve 480.

[0068] In this embodiment, the sliding trajectory of the rack 460 is arc-shaped, and a sliding sleeve 480 is added to the telescopic end of the telescopic member 470, so that the rack 460 can not only move in the telescopic direction of the telescopic member 470, but also increase a degree of freedom to slide in the sliding sleeve 480. Combined with the arc-shaped slide, the arc-shaped sliding of the rack 460 can be achieved through a telescopic member 470 and a sliding sleeve 480. Not only is the layout simple, but the operation is stable and reliable.

[0069] The telescopic member 470 pushes the rack 460 to slide along the arc-shaped slideway through the protrusion 461 from one direction, and the protrusion 461 can slide in the slide groove 481 along a direction perpendicular to the telescopic member 470 .

[0070] Furthermore, it also includes: at least two clamping members 510, which are slidably set at the two ends of the support frame 400 respectively, and the clamping members 510 at the two ends of the support frame 400 move closer to each other or away from each other after sliding, and there is a clamping space 511 between the clamping members 510, and the clamping space 511 is used to clamp the round tube abutting against the roller 420; the two ends of the elastic member 520 are respectively set on the clamping member 510 and the support frame 400, and the elastic member 520 is used to provide a force for the clamping members 510 at the two ends of the support frame 400 to move closer to each other.

[0071] In this embodiment, two clamps 510 are slidably disposed at the two ends of the support frame 400. When the round tube is placed at a position abutting against the roller 420 by a lifting tool, the circumferential surface of the round tube will push the clamp 510 to slide on the support frame 400, so that the clamps 510 at the two ends of the support frame 400 are separated from each other. At this time, the clamping space 511 formed between the clamps 510 clamps the round tube. The two ends of the elastic member 520 are respectively connected to the clamp 510 and the support frame 400, and the elastic force provided by the elastic member 520 makes the clamps 510 at the two ends of the support frame 400 always have a tendency to approach each other, thereby maintaining the clamping effect on the round tube.

[0072] The cooperation of the clamping member 510 and the elastic member 520 can not only effectively fix the round tube, but also prevent the round tube from rolling or shifting accidentally during transportation or operation, thereby improving the safety of transportation and operation. Moreover, the sliding of the clamping member 510 can adapt to round tubes of different diameters, thereby increasing the versatility of the device. The continuous clamping force provided by the elastic member 520 ensures the stability of the clamping effect, and reduces the risk of the round tube loosening due to vibration or impact. This simple and effective clamping structure is easy to manufacture and maintain, has low cost, and does not affect the adjustment operation of the round tube when it needs to be rotated.

[0073] Furthermore, the clamping member 510 is a rotating wheel.

[0074] In this embodiment, the clamping member 510 is designed as a rotating wheel, which can not only reduce the friction with the surface of the round tube while clamping the round tube, but also make the rotation adjustment of the round tube smoother, thereby improving the flexibility and efficiency of the operation. Secondly, the rotating wheel can better adapt to the shape and rotation of the round tube, reduce the wear on the surface of the round tube, and protect the quality of the round tube.

[0075] Furthermore, the surfaces of the roller 420 and the clamping member 510 have a shock-absorbing friction layer.

[0076] In this embodiment, the shock-absorbing friction layer can not only increase the friction between the roller 420 and the round tube, facilitating the rotation adjustment of the round tube, but also prevent the round tube from being too heavy and damaging the surface after contacting the roller 420 and the clamp 510.

[0077] Furthermore, the plurality of mobile components 200 have at least two groups, and each group of mobile components 200 is distributed in sequence along the moving direction of the base 100, and each group of mobile components 200 includes: a rotating rod 210 rotatably arranged relative to the base 100, and the rotating axis of the rotating rod 210 is perpendicular to the forward direction of the base 100; there are two wheels 220, which are respectively arranged on both sides of the rotating rod 210, and the axis of the wheel 220 coincides with the axis of the rotating rod 210, and the wheel 220 is used to contact the ground.

[0078] In this embodiment, when the base 100 moves, the rotating rod 210 will rotate adaptively according to the ground conditions, thereby ensuring that the wheels 220 are always in good contact with the ground, ensuring the stability and flexibility of movement. One of the moving components 200 is connected to a power device, which can drive the rotating rod 210 to rotate, thereby rotating the wheels 220.

[0079] The wheel 220 is a rail wheel 220 and can move on a steel rail. In the absence of a rail, a rubber sleeve can be put on the wheel 220 so that the wheel 220 can move on a road, thus achieving dual-use of road and rail.

[0080] Furthermore, the lifting frame 600 has a spherical groove 610, and the rotating frame 300 has a spherical surface 310, the spherical surface 310 is located in the spherical groove 610, and the spherical surface 310 abuts against the inner wall of the spherical groove 610, the lifting frame 600 has a swinging groove 620, and the swinging groove 620 is connected to the spherical groove 610, and also includes a telescopic frame 230 with one end arranged on the base 100, a group of moving components 200 arranged on the telescopic frame 230, after the telescopic frame 230 is extended and retracted, the base 100 tilts; one end of the center of gravity shaft 320 is arranged on the rotating frame 300, and the other end is located in the swinging groove 620, and the center of gravity shaft 320 does not contact the inner wall of the swinging groove 620, the axis of the center of gravity shaft 320 coincides with the rotation axis of the rotating frame 300, and the center of gravity shaft 320 is used to provide a force for the rotating frame 300 to rotate to the horizontal.

[0081] In this embodiment, the distance between a group of non-powered moving components 200 and the base 100 can be increased by extending and retracting the telescopic member, so that the base 100 is in a tilted state. After the base 100 is in the tilted state, the circular tube on the support frame 400 is tilted accordingly.

[0082] The rotating frame 300 is hingedly connected with the spherical surface 310 and the spherical groove 610, which can not only enable the rotating frame 300 to rotate in the vertical direction, but also enable the rotating frame 300 to rotate in the sliding direction of the first sliding frame 710 or the second sliding frame 720, so that the support frame 400 on the rotating frame 300 can maintain abutment with the side wall of the circular tube, avoiding the circular tube from sliding due to the small contact area between the support frame 400 and the circular tube after tilting.

[0083] A limit platform can be provided on the rotating frame 300. After the rotating frame 300 rotates a certain angle around the sliding direction of the first sliding frame 710 or the second sliding frame 720, the limit platform abuts against the inner wall of the spherical groove 610 to prevent the round tube from sliding due to excessive angle.

[0084] The gravity axis 320 can maintain a horizontal state when the rotating frame 300 is not subjected to force. When the base 100 is tilted under the action of the telescopic frame 230, the rotating frame 300 is tilted and rotated under the action of the round tube, and the end of the gravity axis 320 located in the swing groove 620 swings. After the telescopic frame 230 returns to the normal state, the gravity axis 320 swings to a vertical position under the action of gravity, thereby resetting the rotating frame. In addition, during transportation, the gravity axis 320 will generate resistance when the rotating frame 300 is tilted and rotated, thereby ensuring the stability of the round tube.

[0085] Furthermore, it also includes: there are a plurality of electric cylinders 800, and the plurality of electric cylinders 800 are respectively used for moving the lifting frame 600, the first sliding frame 710, and the second sliding frame 720.

[0086] In this embodiment, the rotation is driven by an electric cylinder 800, which can directly control the sliding of the first sliding frame 710 and the second sliding frame 720. When the electric cylinder 800 drives the lifting frame 600 and the telescopic rod, the worm gear structure can be used to allow the electric rod to be placed horizontally on the base 100 to ensure the stability of the electric rod.

[0087] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A six-degree-of-freedom round tube welding auxiliary device, characterized in that: include: A base (100) having a plurality of moving components (200), wherein the moving components (200) are used to move the base (100); A first sliding frame (710) slidably disposed on the base (100); A second sliding frame (720) is slidably arranged on the first sliding frame (710), wherein the sliding directions of the first sliding frame (710) and the second sliding frame (720) are perpendicular; A lifting frame (600) is lifted and arranged on the second sliding frame (720); A rotating frame (300) rotatably arranged on the lifting frame (600), wherein the rotating axis of the rotating frame (300) is perpendicular to the ground; A support frame (400) is arranged on the rotating frame (300), and the support frame (400) is used to support the circumferential surface of the circular tube; There are a plurality of rollers (420), all of which are rotatably disposed on the support frame (400); the rotation axis of the rollers (420) is parallel to the axis of the circular tube; the plurality of rollers (420) are sequentially distributed along the circular arc direction of the circular tube; and the support frame (400) supports the circular arc surface of the circular tube through the plurality of rollers (420); A transmission shaft (430) is rotatably disposed on the support frame (400); the transmission shaft (430) is disposed on the roller (420); and the rotation axis of the transmission shaft (430) coincides with the rotation axis of the roller (420); A gear (450) disposed on the transmission shaft (430); A rack (460) is slidably disposed on the support frame (400), the rack (460) is meshed with the gear (450) for transmission, the rack (460) is in an arc shape, and the rack (460) slides along the arc direction of the circular tube; The rack (460) has a protruding portion (461), the protruding portion passing through the support frame (400), and further comprises: A telescopic member (470) is arranged on the support frame (400); a sliding sleeve (480) arranged at the telescopic end of the telescopic member (470), the sliding sleeve (480) having a sliding groove (481), the length direction of the sliding groove (481) being perpendicular to the telescopic direction of the telescopic member (470), the protrusion (461) being slidably arranged in the sliding groove (481), and the telescopic member (470) pushing the rack (460) to slide through the sliding sleeve (480); There are at least two clamping members (510), which are slidably arranged at the two ends of the support frame (400), respectively. The clamping members (510) at the two ends of the support frame (400) slide towards each other or away from each other, and there is a clamping space (511) between the clamping members (510). The clamping space (511) is used to clamp the round tube abutting against the roller (420); an elastic member (520), two ends of which are respectively arranged on the clamping member (510) and the support frame (400), the elastic member (520) being used to provide a force for bringing the clamping members (510) at the two ends of the support frame (400) closer to each other; The plurality of moving components (200) comprises at least two groups, each group of the moving components (200) is distributed in sequence along the moving direction of the base (100), and each group of the moving components (200) comprises: A rotating rod (210) is rotatably arranged relative to the base (100), and a rotating axis of the rotating rod (210) is perpendicular to the forward direction of the base (100); There are two wheels (220), which are respectively arranged on both sides of the rotating rod (210), the axis of the wheel (220) coincides with the axis of the rotating rod (210), and the wheel (220) is used to contact the ground; The lifting frame (600) has a spherical groove (610), the rotating frame (300) has a spherical surface (310), the spherical surface (310) is located in the spherical groove (610), and the spherical surface (310) abuts against the inner wall of the spherical groove (610), the lifting frame (600) has a swing groove (620), and the swing groove (620) is connected to the spherical groove (610), and further includes: A telescopic frame (230), one end of which is arranged on the base (100), a group of the moving components (200) is arranged on the telescopic frame (230), and after the telescopic frame (230) is extended or retracted, the base (100) is tilted; A centroid shaft (320) has one end disposed on the rotating frame (300) and the other end located in the swing groove (620), and the centroid shaft (320) does not contact the inner wall of the swing groove (620), and the axis of the centroid shaft (320) coincides with the rotation axis of the rotating frame (300), and the centroid shaft (320) is used to provide a force for rotating the rotating frame (300) to a horizontal position.

2. A six-degree-of-freedom round tube welding auxiliary device according to claim 1, characterized in that: The clamping member (510) is a rotating wheel.

3. A six-degree-of-freedom round tube welding auxiliary device according to claim 2, characterized in that: The surfaces of the roller (420) and the clamping member (510) are provided with a shock-absorbing friction layer.

4. The six-degree-of-freedom round tube welding auxiliary device according to claim 1, characterized in that: Also includes: A plurality of electric cylinders (800) are provided, and the electric cylinders (800) are used to drive the first sliding frame (710), the second sliding frame (720), and the lifting frame (600).

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