Pipeline welding robot

Abstract

The invention relates to the field of pipeline welding. The invention discloses a pipeline welding robot, and aims to solve the problems that a small-diameter pipe, a large-diameter pipe and a conical pipe are not located on the same axis during splicing operation, so that deviation occurs in the welding process, and when a plurality of clamps are used for clamping a pipeline, when the pipeline is subjected to preheating treatment during welding, the pipeline cannot be damaged, and the welding efficiency is greatly improved. And the butt joint time is influenced when mutual rapid butt joint needs to be carried out, so that butt joint is carried out after pretreatment, and the welding part of the pipeline is influenced. The driving rod rotates to synchronously control the two expansion clamps to clamp a small-diameter pipe and a large-diameter pipe, it can be ensured that the axes of the two pipes are located on the same straight line and are consistent with the axis of the driving rod, and the problem of misalignment or eccentricity of the pipes is avoided.

Description

Technical Field

[0001] The present invention relates to the field of pipeline welding, and specifically to a pipeline welding robot. Background Art

[0002] Pipelines are widely used. For example, in water conservancy projects, most of which are carried out outdoors. In the construction of water conservancy projects, metal pipelines are often used. Since the pipelines used in water conservancy projects are mostly relatively long, ordinary metal pipelines usually need to be welded for connection. For the application in some areas, conical pipelines need to be used. A conical pipeline is composed of a small-diameter pipe, a large-diameter pipe, and a conical pipe.

[0003] In the prior art, for the welding of conical pipes, they are usually fixed and limited to each other by three different jigs and then spliced. However, during the splicing operation, the small-diameter pipe, the large-diameter pipe, and the conical pipe are not on the same axis, resulting in deviations during the welding process. Moreover, using multiple jigs to clamp the pipeline will affect the docking time when the pipeline needs to be quickly docked during the preheating treatment for welding, and the subsequent docking after pretreatment will affect the welding part of the pipeline. Summary of the Invention

[0004] The purpose of the present invention is to provide a pipeline welding robot to solve the problems raised in the above background art. To achieve the above purpose, the present invention provides the following technical solution: A pipeline welding robot, including a welding processing table, a servo motor is fixedly connected to the top of the welding processing table, a driving rod is shaft-connected to the main shaft of the servo motor, a support jig is also fixedly connected to the top of the welding processing table, two sleeve pipes are sleeved on the driving rod, expansion jigs for assisting pipeline welding are arranged on both sleeve pipes, and an adjusting support member is connected between the two expansion jigs.

[0005] Preferably, both of the two expansion jigs include a support disc fixedly connected to the sleeve pipe, a plurality of sliding grooves are formed around the circumference of the support disc, an expansion frame is slidably arranged in each sliding groove, a moving sleeve column is also slidably connected to the sleeve pipe, and an articulated frame corresponding to the expansion frame is hinged to the outer wall of the moving sleeve column, and one end of the articulated frame away from the moving sleeve column is hinged to the expansion frame.

[0006] Preferably, the end of the sleeve is fixedly connected to a fixed plate, and a spiral sleeve is rotatably connected to the fixed plate, and the spiral sleeve is engaged with the driving rod, and the fixed plate is fixedly connected to the fixed rod accordingly, and the two fixed rods are slidably connected to the movable frame, and the movable frame is threadedly connected to the spiral sleeve, and the movable frame is also fixedly connected to the movable rod accordingly, and the movable rod extends toward the direction of the fixed plate and the movable sleeve column, and the movable rod is slidably connected to the fixed plate and the movable sleeve column, and the movable sleeve column is further provided with a connecting spring, and the two ends of the connecting spring are respectively connected to the movable sleeve column and the movable rod.

[0007] Preferably, a support frame is clamped on one of the sleeves, and the support frame slides with the top of the welding processing table. The other sleeve is clamped and limited by a support clamp. The top of the welding processing table is also rotatably connected to an auxiliary device that is transmission-connected to the drive rod.

[0008] Preferably, the adjustment support member includes a plurality of connecting rod brackets, which are arranged corresponding to the expansion frames on the two expansion clamps. Both ends of the connecting rod bracket are respectively hingedly connected to the expansion frames correspondingly arranged on the two expansion clamps, and the connecting rod bracket is telescopically arranged.

[0009] Preferably, the auxiliary device includes a rotating rod rotatably connected to the top of the welding processing table, the rotating rod is fixedly connected to a rotating bevel gear, the driving rod is fixedly connected to a driving bevel gear meshing with the rotating bevel gear, the rotating rod is also relatively fixedly connected to a transmission gear, the top of the welding processing table is also slidably connected to a transmission tooth plate, the transmission tooth plate is meshed with the transmission gear, and an extrusion assembly is provided on the transmission tooth plate.

[0010] Preferably, a mounting rod is fixedly connected to the top of the welding processing table, and the two mounting rods are slidably connected to the support frame. Both mounting rods are provided with pressure springs, and the two ends of the pressure springs are respectively connected to the welding processing table and the support frame, and the support frame is in abutment with the extrusion assembly.

[0011] The top of the welding processing table is rotatably connected to the limit frame, and a torsion spring is provided between the limit frame and the welding processing table, and a limit block is provided at the bottom of the limit frame, and the top of the push frame is provided with a push block, and the push block abuts the limit block on the limit frame. The push block is also provided with a side bevel, and the end of the limit frame is wedge-shaped, and the top of the welding processing table is correspondingly provided with a push electric cylinder, and the telescopic ends of the two push electric cylinders are provided with a clamping rod abutting the wedge-shaped end of the limit frame, and the push frame abuts the side wall of the support frame.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] In the present invention, the two expansion clamps are synchronously controlled by the rotation of the driving rod to clamp the thin-diameter tube and the thick-diameter tube, which can ensure that the axes of the two pipes are in the same straight line and consistent with the axis of the driving rod, avoiding the problem of misalignment or eccentricity of the pipes. There is no need to clamp the two pipes separately through two clamping control systems, and it is convenient to subsequently connect the thin-diameter tube, the tapered tube and the thick-diameter tube to ensure that they are on the same axis.

[0014] In the present invention, when the expansion frames on the two expansion clamps clamp the thin-diameter tube and the thick-diameter tube respectively, the top diameter and the bottom diameter of the tapered tube are determined, and the connecting rod bracket will be inclined according to the expansion degree of the expansion frame. When the expansion clamp drives the tapered tube, the thin-diameter tube and the thick-diameter tube to move closer together under the drive of the auxiliary device, the connecting rod bracket will shrink and fit with the inner wall of the tapered tube, thereby limiting the tapered tube between the thin-diameter tube and the thick-diameter tube.

[0015] In the present invention, the transmission gear drives the transmission tooth plate to move so that the extrusion assembly is in a force storage state. Then, after the two expansion clamps clamp the thin-diameter tube and the thick-diameter tube, the extrusion assembly is in a force storage state. The expansion clamp set on the support frame can be moved toward the other expansion clamp through the extrusion assembly, so that the thin-diameter tube, the thick-diameter tube and the tapered tube are tightly attached to each other.

[0016] In the present invention, driven by the energy storage spring, the pushing frame will move rapidly towards the support frame. After the pushing frame abuts against the outer wall of the support frame, it drives one of the expansion clamps on the support frame to move towards the other expansion clamp. At this time, the sleeve pipe will drive the expansion frame on the support disc to move the clamped pipe. During the movement of the sleeve pipe, since the spiral sleeve is clamped and connected to the driving rod, the spiral sleeve will move on the driving rod, and thus it will not affect the relaxation of the pipe in the expanded state. When one of the expansion clamps moves towards the other expansion clamp, the thin-diameter pipe, the thick-diameter pipe, and the tapered pipe will be in close contact with each other.

[0017] In the present invention, the energy storage spring provides the pressure value during the close contact of the two pipes, avoiding deformation of the pipes under the influence of the extrusion force during the close contact. Moreover, after the expansion clamps clamp the pipes, they can quickly close the pipes to be welded under the drive of the extrusion assembly, which can reduce the position deviation generated during the pipe fitting process by manual operation or other methods, reduce the assembly error. And during the welding of the pipes, the welding part needs to be preheated. After the preheating, thermal deformation may occur at the edge of the pipe. At this time, if the pipes to be welded cannot be quickly fitted, the welding part of the pipes will be deformed, affecting the welding quality between the two pipes. By quickly fitting the two pipes, the welded part of the pipes can be heated more evenly after preheating, thereby reducing the degree of thermal deformation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0019] Figure 2 is a partial three-dimensional structural schematic diagram of the present invention;

[0020] Figure 3 is a three-dimensional structural schematic diagram of the expansion clamp of the present invention;

[0021] Figure 4 is an unfolded three-dimensional structural diagram of the expansion clamp of the present invention;

[0022] Figure 5 is a three-dimensional structural schematic diagram of the auxiliary device of the present invention;

[0023] Figure 6 is a three-dimensional structural schematic diagram of the extrusion assembly of the present invention;

[0024] Figure 7 is a partial three-dimensional structural schematic of the extrusion assembly of the present invention Figure 1 ;

[0025] Figure 8 is a partial three-dimensional structural schematic of the extrusion assembly of the present invention Figure 2 。

[0026] In the figure: 1. Welding processing table; 11. Servo motor; 12. Driving rod; 13. Support fixture; 14. Sleeve pipe; 2. Expansion fixture; 21. Support disc; 22. Chute; 23. Expansion frame; 24. Movable sleeve column; 25. Hinge frame; 26. Fixed disc; 27. Spiral sleeve; 28. Fixed rod; 29. Movable frame; 210. Movable rod; 211. Connecting spring; 3. Adjusting support member; 31. Link support; 4. Support frame; 41. Auxiliary device; 42. Rotating rod; 43. Rotating bevel gear; 44. Driving bevel gear; 45. Transmission gear; 46. Transmission toothed plate; 47. Mounting rod; 48. Pressure spring; 5. Extrusion assembly; 51. Pushing frame; 52. Connecting rod; 53. Energy storage spring; 54. Limiting frame; 55. Torsion spring; 56. Limiting block; 57. Pushing block; 58. Side bevel edge; 59. Pushing electric cylinder; 510. Clamping rod. Detailed implementation manner

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0028] Please refer to Figures 1 to 8 , the present invention provides a technical solution: a pipeline welding robot, including a welding processing table 1, a servo motor 11 is fixedly connected to the top of the welding processing table 1, a driving rod 12 is shaft-connected to the main shaft of the servo motor 11, and a support fixture 13 is also fixedly connected to the top of the welding processing table 1;

[0029] Two sleeve pipes 14 are sleeved on the driving rod 12, and two expansion fixtures 2 for assisting pipeline welding are arranged on both sleeve pipes 14, and an adjusting support member 3 is also connected between the two expansion fixtures 2.

[0030] In this embodiment, both of the two expansion fixtures 2 include a support disc 21 fixedly connected to the sleeve pipe 14, a plurality of chutes 22 are opened around the circumference of the support disc 21, an expansion frame 23 is slidably arranged in each chute 22, a movable sleeve column 24 is also slidably connected to the sleeve pipe 14, and a hinge frame 25 corresponding to the expansion frame 23 is hinged to the outer wall of the movable sleeve column 24, and the end of the hinge frame 25 away from the movable sleeve column 24 is hinged to the expansion frame 23;

[0031] A fixing disk 26 is fixedly connected to the end of the sleeve pipe 14. A spiral sleeve 27 is rotatably connected to the fixing disk 26. The spiral sleeve 27 is in clamping fit with the driving rod 12. Corresponding fixing rods 28 are fixedly connected to the fixing disk 26. A moving frame 29 is slidably connected to the two fixing rods 28. The moving frame 29 is in threaded connection with the spiral sleeve 27. A moving rod 210 is also fixedly connected to the moving frame 29 correspondingly. The moving rod 210 extends towards the fixing disk 26 and the moving sleeve column 24, and the moving rod 210 is slidably connected to the fixing disk 26 and the moving sleeve column 24. A connecting spring 211 is also sleeved on the moving sleeve column 24. Two ends of the connecting spring 211 are respectively connected to the moving sleeve column 24 and the moving rod 210;

[0032] The pipe welding is composed of three pipes, namely a thin-diameter pipe, a tapered pipe and a thick-diameter pipe. The thin-diameter pipe and the thick-diameter pipe are respectively clamped and limited by two expansion clamps 2. The tapered pipe is located between the thin-diameter pipe and the thick-diameter pipe. The top diameter of the tapered pipe is the same as the diameter of the thin-diameter pipe, and the bottom diameter of the tapered pipe is the same as the diameter of the thick-diameter pipe. When the thin-diameter pipe, the tapered pipe and the thick-diameter pipe are sleeved on the two expansion clamps 2, the support clamp 13 is not in a clamping state with one of the sleeve pipes 14, so that the three pipes can be sequentially sleeved on the two expansion clamps 2 and the adjusting support member 3. After the three pipes are sleeved, the other sleeve pipe 14 is clamped and limited by the support clamp 13;

[0033] The servo motor 11 rotates to drive the driving rod 12 to rotate. The spiral sleeve 27 is in clamping fit with the driving rod 12, and thus can drive the spiral sleeve 27 to rotate. The spiral sleeve 27 is in threaded connection with the moving frame 29, so that the moving frame 29 can move towards the direction of the support disk 21. The connecting spring 211 sleeved on the moving rod 210 is connected to the moving sleeve column 24. When the moving rod 210 moves towards the direction of the support disk 21, the moving sleeve column 24 can be driven by the connecting spring 211 to move towards the direction of the support disk 21 on the socket rod. The articulated frame 25 hinged to the moving sleeve column 24 can drive the expansion frame 23 to expand under the limitation of the chute 22, so as to realize the clamping and expansion of the inner wall of the pipe through a plurality of expansion frames 23. The driving rod 12 is concentric with the center of the pipe, and thus the pipe is limited under the drive of the expansion frame 23;

[0034] Since the diameters of the small-diameter tube and the large-diameter tube are different, after one of the expansion clamps 2 clamps the inner wall of the large-diameter tube to a limited position, the other expansion clamp 2 needs to continue to clamp the inner wall of the small-diameter tube. At this time, the driving rod 12 continues to rotate. When the spiral sleeve 27 of the expansion clamp 2 clamping the large-diameter tube rotates, the spiral sleeve 27 will continue to move the moving rod 210. At this time, the expansion frame 23 is already in close contact with the inner wall of the large-diameter tube. When the moving rod 210 moves, it will compress the connecting spring 211 between it and the moving sleeve, thereby not affecting the clamping work of the other expansion clamp 2 on the small-diameter tube. The diameters of the thin-diameter tube and the thick-diameter tube are controlled between 5CM and 10CM, and there will be no situation in which the thick-diameter tube is deformed due to excessive clamping force on the inner wall of the pipe. The two expansion clamps 2 are synchronously controlled by the rotation of the driving rod 12 to clamp the thin-diameter tube and the thick-diameter tube, which can ensure that the axes of the two pipes are in the same straight line and consistent with the axis of the driving rod 12, avoiding the problem of misalignment or eccentricity of the pipes. There is no need to clamp the two pipes separately through two clamping control systems, and it is convenient to connect the thin-diameter tube, tapered tube and thick-diameter tube subsequently to ensure that they are on the same axis.

[0035] In this embodiment, a support frame 4 is clamped on one of the sleeves 14, and the support frame 4 is slidably engaged with the top of the welding processing table 1. The other sleeve 14 is clamped and limited by a support fixture 13. The top of the welding processing table 1 is also rotatably connected to an auxiliary device 41 that is transmission-connected to the drive rod 12.

[0036] The adjusting support member 3 includes a plurality of connecting rod brackets 31, which are arranged corresponding to the expansion frames 23 on the two expansion clamps 2. The two ends of the connecting rod bracket 31 are respectively hingedly connected to the expansion frames 23 correspondingly arranged on the two expansion clamps 2, and the connecting rod bracket 31 is arranged in a telescopic manner.

[0037] The thin-diameter tube and the thick-diameter tube are respectively installed on two expansion clamps 2, and the tapered tube is located between the two on the adjustment support 3. When the expansion frames 23 on the two expansion clamps 2 clamp the thin-diameter tube and the thick-diameter tube respectively, the top diameter and bottom diameter of the tapered tube are determined, and the connecting rod bracket 31 will be inclined with the expansion degree of the expansion frame 23. When the expansion clamp 2 drives the tapered tube, the thin-diameter tube and the thick-diameter tube to move closer together under the drive of the auxiliary device 41, the connecting rod bracket 31 will shrink and fit the inner wall of the tapered tube, thereby limiting the tapered tube between the thin-diameter tube and the thick-diameter tube.

[0038] In this embodiment, the auxiliary device 41 includes a rotating rod 42 rotatably connected to the top of the welding processing table 1. A rotating bevel gear 43 is fixedly connected to the rotating rod 42. A driving bevel gear 44 meshing with the rotating bevel gear 43 is fixedly connected to the driving rod 12. A transmission gear 45 is also relatively fixedly connected to the rotating rod 42. A transmission tooth plate 46 is slidably connected to the top of the welding processing table 1. The transmission tooth plate 46 meshes with the transmission gear 45. An extrusion assembly 5 is arranged on the transmission tooth plate 46;

[0039] Corresponding mounting rods 47 are fixedly connected to the top of the welding processing table 1, and the two mounting rods 47 are slidably connected to the support frame 4. Pressure springs 48 are sleeved on both mounting rods 47. The two ends of the pressure spring 48 are respectively connected to the welding processing table 1 and the support frame 4. The support frame 4 is in abutting cooperation with the extrusion assembly 5;

[0040] When the two expansion clamps 2 clamp the thin-diameter pipe and the thick-diameter pipe during the rotation of the driving rod 12, the rotation of the driving rod 12 will drive the driving bevel gear 44 to rotate, and then the rotating bevel gear 43 will rotate. When the rotating bevel gear 43 rotates, the rotating bevel gear 43 can make the rotating rod 42 rotate and then make the transmission gear 45 rotate. The transmission gear 45 drives the transmission tooth plate 46 to move, so that the extrusion assembly 5 is in a state of storing energy. Then, after the two expansion clamps 2 clamp the thin-diameter pipe and the thick-diameter pipe, the extrusion assembly 5 is in a state of storing energy, and the extrusion assembly 5 can move the expansion clamp 2 arranged on the support frame 4 towards the direction of the other expansion clamp 2, so that the thin-diameter pipe, the thick-diameter pipe and the tapered pipe are in close contact with each other.

[0041] In this embodiment, the extrusion assembly 5 includes a pushing frame 51 slidably connected to the top of the transmission tooth plate 46. A connecting rod 52 is fixedly connected to the side wall of the pushing frame 51. The connecting rod 52 is slidably connected to the transmission tooth plate 46. A energy storage spring 53 is sleeved on the connecting rod 52. The two ends of the energy storage spring 53 are respectively connected to the transmission tooth plate 46 and the pushing frame 51. A limiting frame 54 is rotatably connected to the top of the welding processing table 1. A torsion spring 55 is arranged between the limiting frame 54 and the welding processing table 1. A limiting block 56 is arranged at the bottom of the limiting frame 54. A pushing block 57 is arranged at the top of the pushing frame 51. The pushing block 57 abuts against the limiting block 56 on the limiting frame 54. A side bevel 58 is also arranged on the pushing block 57. The end of the limiting frame 54 is wedge-shaped. Corresponding pushing electric cylinders 59 are arranged on the top of the welding processing table 1. The telescopic ends of the two pushing electric cylinders 59 are provided with clamping rods 510 abutting against the wedge-shaped ends of the limiting frame 54. The pushing frame 51 abuts against the side wall of the support frame 4;

[0042] When the thin-diameter pipe and the thick-diameter pipe are clamped, the transmission gear plate 46 moves towards the support frame 4. During the movement of the transmission gear plate 46, the pushing frame 51 will be synchronously moved through the energy storage spring 53. The pushing block 57 on the pushing frame 51 will abut against the limiting block 56. At this time, when the transmission gear plate 46 continues to move, the energy storage spring 53 will be in a stressed state due to the extrusion between the pushing frame 51 and the transmission gear plate 46. After the thin-diameter pipe and the thick-diameter pipe are clamped, the pushing electric cylinder 59 drives the clamping rod 510 to move towards the wedge-shaped end of the limiting frame 54, causing the limiting frame 54 to deflect on the top of the welding processing table 1. At this time, the limiting block 56 is separated from the pushing block 57, and the pushing frame 51 will be driven by the energy storage spring 53 to quickly move towards the support frame 4. After the pushing frame 51 abuts against the outer wall of the support frame 4, it drives one of the expansion clamps 2 on the support frame 4 to move towards the other expansion clamp 2. At this time, the sleeve pipe 14 will drive the expansion frame 23 on the support disc 21 to move the clamped pipe. During the movement of the sleeve pipe 14, since the spiral sleeve 27 is clamped and connected to the driving rod 12, the spiral sleeve 27 will move on the driving rod 12, and thus will not affect the relaxation of the pipe in the expanded state. When one of the expansion clamps 2 moves towards the other expansion clamp 2, the thin-diameter pipe, the thick-diameter pipe and the tapered pipe will be in close contact with each other;

[0043] During the process of clamping the pipe, the extrusion assembly 5 is in an energy storage state, so that the energy-stored pushing frame 51 can drive the support frame 4 to move, providing a certain buffering effect during the extrusion of the pipe. During the pipe welding process, the welded pipes need to be in close contact. The energy storage spring 53 provides the pressure value during the close contact of the two pipes, avoiding deformation of the pipes under the influence of the extrusion force during the close contact of the pipes. Moreover, after the expansion clamp 2 clamps the pipe, it can quickly close the pipes to be welded under the drive of the extrusion assembly 5, reducing the position deviation generated by manual operation or other methods during the pipe fitting process, reducing the assembly error. And during the pipe welding process, the welding part needs to be preheated. Thermal deformation may occur at the edge of the preheated pipe. At this time, if the pipes to be welded cannot be quickly fitted, the welding part of the pipe will be deformed, affecting the welding quality between the two pipes. However, through the quick fitting of the two pipes, the welded part of the pipe can be heated more evenly after preheating, thereby reducing the degree of thermal deformation.

[0044] The usage method and advantages of the present invention: The usage method of the pipe welding robot is as follows, and the working process is as follows:

[0045] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6 、 Figure 7 、Figure 8 As shown in the figure: The pipe welding consists of three pipes, namely a thin-diameter pipe, a tapered pipe, and a thick-diameter pipe. The thin-diameter pipe and the thick-diameter pipe are respectively clamped and limited by two expansion jigs 2, and the tapered pipe is located between the thin-diameter pipe and the thick-diameter pipe. The top diameter of the tapered pipe is the same as the diameter of the thin-diameter pipe, and the bottom diameter of the tapered pipe is the same as the diameter of the thick-diameter pipe. When the thin-diameter pipe, the tapered pipe, and the thick-diameter pipe are sleeved on the two expansion jigs 2, the support jig 13 is not in a clamping state with one of the sleeve pipes 14, enabling the three pipes to be sequentially sleeved on the two expansion jigs 2 and the adjustment support member 3. After the three pipes are sleeved, the other sleeve pipe 14 is clamped and limited by the support jig 13;

[0046] The servo motor 11 rotates to drive the drive rod 12 to rotate. The spiral sleeve 27 is clamped and matched with the drive rod 12, and thus can drive the spiral sleeve 27 to rotate. The spiral sleeve 27 is threadedly connected to the moving frame 29, enabling the moving frame 29 to move towards the direction of the support disc 21. The connecting spring 211 sleeved on the moving rod 210 is connected to the moving sleeve column 24. When the moving rod 210 moves towards the direction of the support disc 21, it can drive the moving sleeve column 24 to move towards the direction of the support disc 21 on the socket rod under the connection of the connecting spring 211. The articulated frame 25 hingedly connected to the moving sleeve column 24 can drive the expansion frame 23 to expand under the restriction of the chute 22, thereby realizing the clamping and expansion of the inner wall of the pipe through a plurality of expansion frames 23. The drive rod 12 is concentric with the center of the pipe, and thus the pipe is limited under the drive of the expansion frame 23;

[0047] Since the diameters of the thin-diameter pipe and the thick-diameter pipe are different, after one of the expansion jigs 2 clamps and limits the inner wall of the thick-diameter pipe, the other expansion jig 2 still needs to continue to clamp the inner wall of the thin-diameter pipe. At this time, the drive rod 12 continues to rotate. When the spiral sleeve 27 of the expansion jig 2 clamping the thick-diameter pipe rotates, the spiral sleeve 27 will continue to move the moving rod 210. At this time, the expansion frame 23 is already in close contact with the inner wall of the thick-diameter pipe. When the moving rod 210 moves, it will compress the connecting spring 211 between the moving sleeve, thus not affecting the clamping work of the other expansion jig 2 on the thin-diameter pipe. The diameter sizes of the thin-diameter pipe and the thick-diameter pipe are controlled between 5CM - 10CM, and there will be no situation where the inner wall of the pipe is clamped with too much force, causing deformation of the thick-diameter pipe. By rotating the drive rod 12 to synchronously control the two expansion jigs 2 to clamp the thin-diameter pipe and the thick-diameter pipe, it can ensure that the axes of the two pipes are on the same straight line and coincide with the axis of the drive rod 12;

[0048] The thin-diameter tube and the thick-diameter tube are respectively installed on two expansion jigs 2, and the conical tube is located between them on the adjusting support 3. When the expansion frames 23 on the two expansion jigs 2 clamp the thin-diameter tube and the thick-diameter tube respectively, the top diameter and the bottom diameter of the conical tube are determined. The connecting rod bracket 31 will be in an inclined state along with the expansion degree of the expansion frame 23. When the expansion jig 2 drives the conical tube, the thin-diameter tube and the thick-diameter tube to approach under the drive of the auxiliary device 41, the connecting rod bracket 31 will contract and fit with the inner wall of the conical tube, so as to limit the conical tube between the thin-diameter tube and the thick-diameter tube.

[0049] When the two expansion jigs 2 clamp the thin-diameter tube and the thick-diameter tube by the rotation of the driving rod 12, the rotation of the driving rod 12 will drive the driving bevel gear 44 to rotate, and then make the rotating bevel gear 43 rotate. When the rotating bevel gear 43 rotates, the rotating bevel gear 43 can make the rotating rod 42 rotate and then make the transmission gear 45 rotate. The transmission gear 45 drives the transmission tooth plate 46 to move, so that the extrusion assembly 5 is in a state of storing energy. Then, after the two expansion jigs 2 clamp the thin-diameter tube and the thick-diameter tube, the extrusion assembly 5 is in a state of storing energy, and can make the expansion jig 2 arranged on the support frame 4 approach the other expansion jig 2 through the extrusion assembly 5, so that the thin-diameter tube, the thick-diameter tube and the conical tube are in close contact with each other.

[0050] When the thin-diameter tube and the thick-diameter tube are clamped, the transmission tooth plate 46 moves towards the support frame 4. During the movement of the transmission tooth plate 46, the push frame 51 will be synchronously moved through the energy storage spring 53. The push block 57 on the push frame 51 will abut against the limit block 56. At this time, when the transmission tooth plate 46 continues to move, the energy storage spring 53 will be in a stressed state due to the extrusion between the push frame 51 and the transmission tooth plate 46. After the thin-diameter tube and the thick-diameter tube are clamped, the push rod 59 drives the clamping rod 510 to move towards the wedge-shaped end of the limit frame 54, so that the limit frame 54 deflects on the top of the welding processing table 1. At this time, the limit block 56 is separated from the push block 57, and the push frame 51 will be quickly moved towards the support frame 4 under the drive of the energy storage spring 53. After the push frame 51 abuts against the outer wall of the support frame 4, it drives one of the expansion jigs 2 on the support frame 4 to move towards the other expansion jig 2. At this time, the sleeve 14 will drive the expansion frame 23 on the support disc 21 to move the clamped pipe. During the movement of the sleeve 14, since the spiral sleeve 27 is clamped and connected with the driving rod 12, the spiral sleeve 27 will move on the driving rod 12, and thus will not affect the relaxation of the pipe in the expanded state. When one of the expansion jigs 2 moves towards the other expansion jig 2, the thin-diameter tube, the thick-diameter tube and the conical tube will be in close contact with each other.

[0051] During the process of clamping through the pipeline, the extrusion assembly 5 is in a state of storing energy, so that the pushing frame 51 after storing energy can drive the support frame 4 to move, so that the pipeline can provide a certain buffering effect during the extrusion process. During the pipeline welding process, the welded pipelines need to be closely attached. The energy storage spring 53 provides the pressure value during the process of the two pipelines being closely attached, avoiding deformation of the pipelines under the influence of the extrusion force during the process of the pipelines being closely attached;

[0052] After the pipeline is welded, the drive rod 12 rotates in the reverse direction to make the transmission gear plate 46 move away from the support plate. After the side bevel 58 provided on the pushing block 57 contacts the limiting block 56, there will be no abutting situation, which can make the pushing frame 51 complete the reset. After welding, the support clamp 13 loosens the sleeve 14, and the welded pipeline is taken out to complete the operation.

[0053] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art of this industry should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A pipeline welding robot, comprising a welding table (1), wherein a servo motor (11) is fixedly connected to the top of the welding table (1), a driving rod (12) is connected to the main shaft of the servo motor (11), and a supporting fixture (13) is also fixedly connected to the top of the welding table (1); It is characterized in that Two sleeve tubes (14) are sleeved on the driving rod (12), and expansion clamps (2) for auxiliary pipeline welding are provided on the two sleeve tubes (14). An adjustment support member (3) is also connected between the two expansion clamps (2).

2. The pipe welding robot according to claim 1, characterized in that: The two expansion clamps (2) each include a support disc (21) fixedly connected to a sleeve tube (14), a plurality of slide grooves (22) are provided around the circumference of the support disc (21), an expansion frame (23) is slidably provided in each slide groove (22), a movable sleeve column (24) is also slidably connected to the sleeve tube (14), and an articulated frame (25) corresponding to the expansion frame (23) is hingedly connected to the outer wall of the movable sleeve column (24), and the end of the articulated frame (25) away from the movable sleeve column (24) is hingedly connected to the expansion frame (23).

3. The pipeline welding robot according to claim 2, characterized in that: The end of the sleeve tube (14) is fixedly connected to a fixed disk (26), and a spiral sleeve (27) is rotatably connected to the fixed disk (26). The spiral sleeve (27) is engaged with the driving rod (12). A fixed rod (28) is fixedly connected to the fixed disk (26) in a corresponding manner. A movable frame (29) is slidably connected to the two fixed rods (28). The movable frame (29) is threadedly connected to the spiral sleeve (27). A movable rod (210) is also fixedly connected to the movable frame (29). The movable rod (210) is extended toward the fixed disk (26) and the movable sleeve column (24), and the movable rod (210) is slidably connected to the fixed disk (26) and the movable sleeve column (24). A connecting spring (211) is also sleeved on the movable sleeve column (24), and two ends of the connecting spring (211) are respectively connected to the movable sleeve column (24) and the movable rod (210).

4. The pipeline welding robot according to claim 3, wherein: A support frame (4) is clamped on one of the sleeve tubes (14), and the support frame (4) is slidably matched with the top of the welding processing table (1). The other sleeve tube (14) is clamped and limited by a support clamp (13). The top of the welding processing table (1) is also rotatably connected to an auxiliary device (41) that is transmission-connected to the drive rod (12).

5. The pipe welding robot according to claim 4, characterized in that: The adjustment support member (3) comprises a plurality of connecting rod brackets (31), the plurality of connecting rod brackets (31) being arranged corresponding to the expansion frames (23) on the two expansion clamps (2), the two ends of the connecting rod brackets (31) being hingedly connected to the expansion frames (23) correspondingly arranged on the two expansion clamps (2), and the connecting rod brackets (31) being arranged in a telescopic manner.

6. The pipeline welding robot according to claim 5, characterized in that: The auxiliary device (41) comprises a rotating rod (42) rotatably connected to the top of the welding processing table (1), a rotating bevel gear (43) fixedly connected to the rotating rod (42), a driving bevel gear (44) meshing with the rotating bevel gear (43) fixedly connected to the driving rod (12), a transmission gear (45) relatively fixedly connected to the rotating rod (42), a transmission tooth plate (46) slidably connected to the top of the welding processing table (1), the transmission tooth plate (46) meshing with the transmission gear (45), and an extrusion assembly (5) provided on the transmission tooth plate (46).

7. The pipeline welding robot according to claim 6, characterized in that: The top of the welding processing table (1) is fixedly connected to a mounting rod (47), and the two mounting rods (47) are slidably connected to the support frame (4). The two mounting rods (47) are both sleeved with a pressure spring (48), and the two ends of the pressure spring (48) are respectively connected to the welding processing table (1) and the support frame (4), and the support frame (4) is in abutment with the extrusion assembly (5).

8. The pipeline welding robot according to claim 7, characterized in that: The extrusion assembly (5) includes a pushing frame (51) slidably connected to the top of the transmission tooth plate (46), the side wall of the pushing frame (51) is fixedly connected to a connecting rod (52), the connecting rod (52) is slidably connected to the transmission tooth plate (46), and a storage spring (53) is sleeved on the connecting rod (52), and the two ends of the storage spring (53) are respectively connected to the transmission tooth plate (46) and the pushing frame (51), the top of the welding processing table (1) is rotatably connected to a limiting frame (54), and a torsion spring (55) is provided between the limiting frame (54) and the welding processing table (1). A limiting block (56) is provided at the bottom of the positioning frame (54), a pushing block (57) is provided at the top of the pushing frame (51), the pushing block (57) abuts against the limiting block (56) on the limiting frame (54), and a side bevel (58) is also provided on the pushing block (57). The end of the limiting frame (54) is wedge-shaped, and a pushing electric cylinder (59) is correspondingly provided at the top of the welding processing table (1). The telescopic ends of the two pushing electric cylinders (59) are provided with a clamping rod (510) abutting against the wedge-shaped end of the limiting frame (54), and the pushing frame (51) abuts against the side wall of the support frame (4).

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