A pipe pile quick docking and automatic welding equipment

Abstract

The present invention relates to the technical field of pipe pile welding, and in particular to a pipe pile quick docking and automatic welding device, comprising a base frame, a positioning adjustment mechanism, a guide rail, a welding trolley and a control system, wherein the base frame is fixed to the pipe pile, the positioning adjustment mechanism is installed on the base frame to achieve quick docking of two pipe piles, the guide rail is installed on the positioning adjustment mechanism, and the welding trolley is arranged on the guide rail and can move along the circumferential direction of the guide rail to achieve automatic welding of two pipe piles; the present invention greatly reduces labor costs, improves welding efficiency and quality, and achieves quick welding and automatic welding.

Description

Technical Field

[0001] The invention relates to the technical field of pipe pile welding, and in particular to a pipe pile quick docking and automatic welding device. Background Art

[0002] During the construction process of large-scale pipe pile machines on construction sites, the splicing of pipe piles is a link in the construction. There are two ways to splice large-diameter pipe piles: mechanical connection and welding.

[0003] Mechanical connection methods are difficult to guarantee the docking effect. For large-diameter pipe piles, the docking method is mainly welding, and the welding method requires the pipe piles to be calibrated so that the welding grooves of the two pipe piles can correspond to each other. According to the actual situation of on-site welding, there are the following problems: (1) When docking, it is necessary to use tools to knock the pipe piles manually to align them; (2) Large-diameter pipe piles are relatively heavy, and the correction during docking requires the tacit cooperation of the crane and the construction workers; (3) It is difficult to get the docking right in one go, and it often requires multiple attempts and repeated knocking, which takes a lot of man-hours; (4) Manual welding is difficult to ensure welding efficiency and welding quality, and the welding work requires a certain amount of man-hours; (5) The existing automatic welding equipment on the market is difficult to meet the requirements of on-site construction. For example: a pipe pile welding robot with patent number CN 106624514 A, the installation of its fixed support mechanism requires a certain amount of man-hours, and the calibration structure needs to be calibrated before the position can be adjusted; a pipe pile welding robot fixing device with publication number CN209830770 U, its fixing device is two semicircular fixing rings, and the two semicircular fixing rings clamp the pipe piles with bolts. This fixing method is unstable, and its fixing position requires manual measurement of the distance between the device and the weld, and it cannot be fixed quickly and conveniently. Summary of the invention

[0004] The purpose of the present invention is to solve the problems of manual correction using tools and manual welding, and to provide a pipe pile quick docking and automatic welding device.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] A pipe pile quick docking and automatic welding device comprises a base frame, a positioning adjustment mechanism, a guide rail, a welding trolley and a control system, wherein the base frame is fixed to the pipe pile, the positioning adjustment mechanism is installed on the base frame to achieve quick docking of two pipe piles, the guide rail is installed on the positioning adjustment mechanism, and the welding trolley is arranged on the guide rail and can move along the circumferential direction of the guide rail to achieve automatic welding of two pipe piles.

[0007] Preferably, the positioning adjustment mechanism includes a base, a socket, a first axis, a first slider, a heavy spring, and a cylindrical bolt. The base is provided with a bayonet structure connected to the base and a hole structure connected to the guide rail. The socket is detachably fixed to the base. The first axis passes through the socket and the first slider. The heavy spring is sleeved on the first axis between the first slider and the side wall of the socket. The cylindrical bolt is provided on one side of the socket and can be pushed in or out on the socket.

[0008] Preferably, the socket is Y-shaped, including a notch portion and a strip portion, the two lips of the notch portion are provided with a through hole A for the first axis to pass through, the base is provided with a slot for the strip portion to be inserted, and the strip portion and the base are tightened and fixed by a five-star handle.

[0009] Preferably, at least three positioning adjustment mechanisms are provided.

[0010] Preferably, a chamfer is provided on the top of the first sliding block, and the first sliding block is also provided with a stopper that matches with the notch of the socket and a through hole B for the first shaft to pass through.

[0011] Preferably, the base frame includes a steel belt, a support block and a locking assembly. The support blocks are provided in plurality and are equidistantly arranged on the inner side of the steel belt. The steel belt is provided with a plurality of connecting holes A for connection with the support blocks. The locking assembly includes a notch block, an L-shaped block and a hook bolt. The notch block is connected to one end of the steel belt, and the L-shaped block is connected to the other end of the steel belt. The hook portion at one end of the hook bolt cooperates with the notch block, and the other end passes through the L-shaped block and is equipped with a nut.

[0012] Preferably, the guide rail is circular and has a toothed outer edge.

[0013] Preferably, the welding carriage comprises a wheel train structure, a driving device, a welding gun, a clamping mechanism, an up-and-down moving assembly, and a forward-and-backward moving assembly;

[0014] The gear train structure is composed of a roller, a first gear, a second gear, a second shaft, a third shaft, a fourth shaft, a triangular plate, an adjustable tightening handle, a worm gear, and a T-shaped connecting plate. The roller is connected to the tip of the long slot of the triangular plate through the second shaft. One end of the second shaft is connected to the adjustable tightening handle for fixing the roller to the triangular plate. The first gear and the turbine are sleeved on the third shaft. The two ends of the third shaft are respectively connected to the T-shaped connecting plate and the triangular plate. The second gear is connected to the triangular plate and the T-shaped connecting plate through the fourth shaft. The roller, the first gear, and the second gear are all provided with grooves for the guide rail to be inserted into. The driving device includes a first motor and a worm. One end of the worm is connected to the output shaft of the first motor, and the other end cooperates with the turbine.

[0015] The forward and backward moving assembly is composed of a second slider, a slider fastener, a screw, a coupling, and a second motor. The slider fastener is installed on the T-shaped connecting plate and forms a slide groove for the second slider to move. One end of the screw is connected to the output shaft of the second motor through a coupling, and the other end passes through a corresponding threaded hole on the second slider.

[0016] The up-and-down moving assembly is composed of a third gear, a rack plate, and a third motor. The rack plate is arranged in a strip groove provided on the second slider and can move along the length direction of the strip groove. The third motor is installed on the second slider. The third gear is connected to the output shaft of the third motor and meshes with the rack plate.

[0017] One end of the clamping mechanism is directly or indirectly detachably fixed to the rack plate, and the other end clamps the welding gun.

[0018] Preferably, the welding carriage further comprises a positioning module mounted on the welding gun, and the positioning module comprises but is not limited to any one or a combination of a laser weld tracker, a displacement sensor, a tactile sensor, and a visual sensor.

[0019] Preferably, the control system includes but is not limited to an operating machine, a power supply, a central control computer and safety equipment.

[0020] The above technical solution of the present invention has the following beneficial technical effects:

[0021] The positioning adjustment mechanism automatically adjusts the position of the upper pipe pile when it is docked, thanks to the guiding function of the automatic adjustment block, and its heavy spring can return the pile to its original position; the steel belt locking and fixing mechanism makes the structure simple and lightweight, with strong locking force and stable and reliable positioning, and easy installation; the setting of the spring can reduce the impact on the positioning adjustment mechanism when the pile is docked, avoids damage to the positioning adjustment mechanism, and plays a buffering role; the positioning adjustment mechanism is provided with a cylindrical bolt that can be overlapped on the end face of the pipe pile, which reduces the adjustment time of the guide rail, and the guide rail itself is not easy to deform. At the same time, the installation and splicing of the guide rail has a certain degree of accuracy, and the leveling is convenient and reliable; the welding trolley is installed on the guide rail with a fixed running track to ensure that the position of the welding trolley relative to the guide rail is stable; the equipment also solves the problem of time-consuming work when docking pipe piles and the problem of unstable walking of the welding trolley; it reduces the number of construction personnel, reduces labor costs, and has fully automated welding properties. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the positioning adjustment mechanism in the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the welding carriage in the present invention;

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the guide rail in the present invention;

[0026] Figure 5 It is a schematic diagram of the steel belt structure in the present invention. DETAILED DESCRIPTION

[0027] In order to make the technical means, creative features, objectives and effects of the present invention easy to understand, the present invention is further described below in conjunction with specific embodiments and drawings, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present invention. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0028] like Figure 1 As shown, taking the upper and lower position relationship of pipe pile welding as an example, a pipe pile quick docking and automatic welding equipment includes a base frame 1, a positioning adjustment mechanism 2, a guide rail 4, a welding trolley 3 and a control system. The base frame 1 is fixed to the lower pipe pile 5, the positioning adjustment mechanism 2 is installed on the base frame 1 to achieve quick docking of the upper and lower pipe piles, the guide rail 4 is installed on the positioning adjustment mechanism 2, the welding trolley 3 is arranged on the guide rail 4 and can move along the circumferential direction of the guide rail 4 to achieve automatic welding of the upper and lower pipe piles; the control system includes but is not limited to an operating machine, a power supply, a central control computer and safety equipment.

[0029] like Figure 2 The positioning and adjustment mechanism 2 includes a base 201, a socket 202, a first shaft 203, a first slider 204, a heavy spring 205, and a cylindrical bolt 206. The base 201 is provided with a bayonet structure connected to the base frame 1 and a hole structure connected to the guide rail 4. The socket 202 is detachably fixed to the base 201. The first shaft 203 passes through the socket 202 and the first slider 204. The heavy spring 205 is sleeved on the first shaft 203 located between the first slider 204 and the side wall of the socket 202. The cylindrical bolt 206 is provided on one side of the socket 202 and can be pushed in or out on the socket 202. The cylindrical bolt 206 is pushed out and contacts the end face of the lower pipe pile 5, which plays a role in positioning, so that the distance between the guide rail 4 and the end face of the lower pipe pile 5 is relatively accurate.

[0030] The hole structure on the base 201 connected to the guide rail 4 adopts a strip hole / waist hole, which is convenient for fine-tuning. It can be imagined that the corresponding position on the guide rail 4 must be provided with a hole corresponding to the above hole structure.

[0031] In a specific embodiment, the socket 202 is Y-shaped, including a notch portion and a strip portion, the two lips of the notch portion are provided with a through hole A for the first shaft 203 to pass through, and the base 201 is provided with a slot 208 (such as Figure 5 As shown), the strip portion and the base 201 are tightened and fixed by a five-star handle 207. Of course, it can be understood that the strip portion and the base 201 can also be fixed by bolts / screws and the like.

[0032] At least three positioning and adjusting mechanisms 2 are provided. For example, in this embodiment, four positioning and adjusting mechanisms 2 are provided, which are respectively located on four surfaces of the lower pipe pile 5 .

[0033] The top of the first slider 204 is provided with a chamfer, and the first slider 204 is also provided with a stopper that matches with the notch of the socket 202 and a through hole B for the first shaft 203 to pass through.

[0034] It should be noted that the heavy spring 205 of the positioning and adjusting mechanism 2 is arranged along the radial position of the lower pipe pile 5 through the first shaft 203 and the first slider 204, and the first slider 204 is pressed tightly to make the first slider 204 fit the lower pipe pile 5 tightly. The heavy spring 205 of the positioning and adjusting mechanism 2 of the present invention can also be arranged along the axial direction of the lower pipe pile 5, and the lifting force of the heavy spring 205 can make the first slider 204 play a buffering role when the lower pipe pile 5 is docked, and the function of the positioning and adjusting mechanism 2 of the present invention can also be achieved.

[0035] like Figure 5 As shown, the base frame 1 includes a steel belt 101, a support block 102 and a locking assembly. The support block 102 is provided in plurality and arranged on the inner side of the steel belt 101. The steel belt 101 is provided with a plurality of connection holes A for connection with the support block 102. The locking assembly includes a notch block 103, an L-shaped block 105 and a hook bolt 104. The notch block 103 is connected to one end of the steel belt 101, and the L-shaped block 105 is connected to the other end of the steel belt 101. The hook portion at one end of the hook bolt 104 cooperates with the notch block 103, and the other end passes through the L-shaped block 105 and is matched with a nut. The support blocks 102 are arranged between the two bases 201 as required, and the support blocks 102 and the base 101 are closely attached to the lower pipe pile 5, playing a supporting and positioning role. Furthermore, the support blocks 102 located between the two bases 201 are equidistantly distributed.

[0036] Among them, the steel belt 101 can also be replaced by a steel frame. Specifically, two semicircular steel frames are connected by bolts, and a clamping device is provided on the inner side of the steel frame. By adjusting the screw, the support block 102 can contact the lower pipe pile 5 and be firmly locked. This method can be well fixed on the lower pipe pile 5, and then a positioning adjustment mechanism 2 is set on this steel frame to achieve the purpose of docking the lower pipe pile 5 and the upper pipe pile 6.

[0037] like Figure 4 As shown, the guide rail 4 is circular, and the outer side edge is toothed. In this embodiment, the guide rail 4 is formed by splicing four identical quarter rings, the inner and outer sides are convex edges, the outer convex edge is toothed, and the two are connected by bolts.

[0038] like Figure 3 As shown, the welding carriage 3 includes a wheel system structure, a driving device, a welding gun 301, a clamping mechanism 302, an up and down moving component, and a front and back moving component;

[0039] The gear train structure is composed of a roller 318, a first gear 314, a second gear 321, a second shaft 317, a third shaft 313, a fourth shaft 320, a triangular plate 319, an adjustable locking handle 316, a worm wheel 315, and a T-shaped connecting plate 322. The roller 318 is connected to the tip of the long notch of the triangular plate 319 through the second shaft 317. One end of the second shaft 317 is connected to the adjustable locking handle 316 for fixing the roller 318 on the triangular plate 319. The first gear 314 and the worm wheel 313 are connected to each other. 5 is sleeved on the third shaft 313, the two ends of the third shaft 313 are respectively connected to the T-shaped connecting plate 322 and the triangular plate 319, the second gear 321 is connected to the triangular plate 319 and the T-shaped connecting plate 322 through the fourth shaft 320, the roller 318, the first gear 314, and the second gear 321 are all provided with grooves for the guide rail 4 to be inserted, the driving device includes a first motor 311 and a worm 312, one end of the worm 312 is connected to the output shaft of the first motor 311, and the other end is matched with the turbine 315;

[0040] The forward and backward moving assembly is composed of a second slider 310, a slider fastener 309, a screw rod 308, a coupling 307, and a second motor 306. The slider fastener 309 is installed on the T-shaped connecting plate 322 and forms a sliding groove for the second slider 310 to move. One end of the screw rod 308 is connected to the output shaft of the second motor 306 through the coupling 307, and the other end passes through the corresponding threaded hole on the second slider 310; the up and down moving assembly is composed of a third gear 304, a rack plate 303, and a third motor 305. The rack plate 303 is arranged in a strip groove opened on the second slider 310 and can move along the length direction of the strip groove. The third motor 305 is installed on the second slider 310, and the third gear 304 is connected to the output shaft of the third motor 305 and meshes with the rack plate 303; one end of the clamping mechanism 302 is directly or indirectly detachably fixed to the rack plate 303, and the other end clamps the welding gun 301. The welding carriage 3 also includes a positioning module 323 installed on the welding gun 301. The positioning module 323 includes but is not limited to any one or a combination of a laser weld tracker, a displacement sensor, a tactile sensor, and a visual sensor. In this embodiment, a laser weld tracker is used and can be installed on any welding gun 301.

[0041] It should be noted that the first motor 311 of the welding carriage 3 that performs circular motion along the guide rail 4, the second motor 306 that controls the forward and backward movement and the up and down movement of the welding gun 301, and the third motor 305 can be servo motors, which can achieve higher-precision displacement control when equipped with position sensors, or they can be replaced by ordinary motors, which is a lower-cost method.

[0042] It can be imagined that the second motor 306 and the third motor 305 controlling the movement of the welding gun 301 is only a driving method. It can also be driven by a cylinder, and equipped with a wire encoder, a solenoid valve, etc., it can also realize automatic control of displacement according to feedback from the sensor.

[0043] In the installation and fixing stage of the present invention: the equipment of the present invention is installed on the end of a fixed lower pipe pile 5 during the construction process, and the cylindrical bolt 206 on the side of the socket 202 of the positioning adjustment mechanism 2 is pushed out to contact the end face of the lower pipe pile 5, so as to determine the position of the entire equipment relative to the end face of the pipe pile, wherein the socket 202 is inserted into the base 201, and the socket 202 is fixed by the five-star handle 207 at the same time, so that the socket 202 and the base 201 are relatively fixed, the guide rail 4 is connected and connected to the base 201 by bolts, and the base 201 and the base 1 are adjusted by the accuracy of the guide rail 4 itself, and the cylindrical bolt 206 on the side of the socket 202 is pulled back, and the preparation work for docking the upper pipe pile 6 with the lower pipe pile 5 is completed.

[0044] Pipe pile docking stage: When the docked upper pipe pile 6 (movable) is lowered from top to bottom, the crane hangs the upper pipe pile 6, finds the correct position by prejudgment, and prepares to lower the upper pipe pile 6. The chamfer of the upper part of the first slide block 204 can make the end of the upper pipe pile 6 slide down. At the same time, the heavy spring 205 has a buffering effect (due to the impact of the slide block caused by the difficulty in accurately grasping the position of the hoisted pipe pile or the slight movement during the hoisting process). When the force of the heavy spring 205 is large enough, the pipe pile can be automatically centered. After the pipe pile is docked, loosen the five-star handle 207, and the socket 202 can be pulled out, and the upper part of the positioning adjustment mechanism 2 is separated to avoid blocking the movement of the welding gun 301 during welding.

[0045] Specific steel belt locking process: one end of the steel belt 101 is fixed with the notch block 103, and the other end is fixed with the L-shaped block 105. The bolt section of the hook bolt 104 passes through the hole of the L-shaped block 105, and the nut is screwed on the bolt section of the hook bolt 104 passing through the L-shaped block 105 to be locked. Four bases 201 are evenly distributed on the steel belt 101 (the steel belt 101 is inserted into the bayonet structure on the base 201 and fixed with screws), and the support block 102 is installed between two bases 201 as needed. The hook bolt 104 hooks the notch of the notch block 103, and the nut is adjusted and tightened to lock the steel belt 101.

[0046] Installation and disassembly process of welding carriage: The wheel system structure of welding carriage 3 fixes welding carriage 3 on guide rail 4 in a three-point positioning manner. Roller 318, first gear 314, and second gear 321 are the "three points" of welding carriage. The structures of roller 318, first gear 314, and second gear 321 are all groove notch type, forming a matching relationship with the convex edge of guide rail 4. Roller 318 is fixed to the long notch of triangle plate 319 through second shaft 317 and adjustable position tightening handle 316. When installing welding carriage, move roller 318 to one side of the long notch of triangle plate 319 to make room for first gear 314 and second gear 321 to dock on guide rail 4, then move roller 318 to adjust the position so that its groove is also docked with the convex edge of guide rail 4, and fix the roller by locking adjustable position tightening handle 316. Welding carriage 3 can move along guide rail 4. When disassembling the welding carriage, it is only necessary to loosen the adjustable position fixing handle 316 and move the roller 318 to remove the welding carriage 3.

[0047] In one embodiment, the second shaft 317 is provided with a limiting portion and a threaded portion, the threaded portion passes through the long slot of the triangular plate 319, and is connected to the adjustable locking handle 316 provided with an adapting screw hole, and the limiting portion contacts the upper surface of the long slot of the triangular plate 319. In this way, the roller 318 can be fixed / loosened by tightening / loosening the adjustable locking handle 316.

[0048] Specific welding process: The moving power of the welding carriage 3 is driven by the first motor 311 installed on the triangular plate 319 and the worm 312 connected to its motor shaft, which drives the worm wheel 315, thereby driving the first gear 314 through the third shaft 313. The rotation of the first gear 314 realizes the circular motion of the welding carriage 3 along the guide rail 4. The forward and backward movement of the welding gun 301 is realized by the second slider 310 moving in the slide groove formed between the slider fastener 309 and the T-shaped connecting plate 322. The second slider 310 is driven by the second motor 306 installed on the T-shaped connecting plate 322 through the coupling 307 and the screw rod 308. The up and down movement of the welding gun 301 is realized by the third gear 304 and the rack plate 303. The third gear 304 and the third motor 305 are installed on the second slider 310. The rack plate 303 is installed on the second slider 310 and can move up and down along the strip groove of the second slider 310. The third motor 305 drives the third gear 304 connected to its motor shaft to rotate so as to move the rack plate 303 up and down. The welding gun 301 is clamped by the clamping mechanism 302. Preferably, the clamping mechanism 302 adopts a universal clamp to adjust the angle of the welding gun 301. The laser weld tracker 323 is arranged on one of the welding guns 301. The laser weld tracker 323 emits a "single" laser, and can measure the distance between the welding gun 301 and the weld according to the feedback information of the tracker, and can also measure the offset of the welding gun 301 relative to the weld. This allows the welding gun 301 to adjust the distance following the weld, and can achieve full-automatic welding. Each motor can be connected to the control system, and automatic control can be achieved through the feedback signal of the laser weld tracker 323.

[0049] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not intended to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A pipe pile quick docking and automatic welding equipment, characterized in that: The invention comprises a base frame (1), a positioning adjustment mechanism (2), a guide rail (4), a welding trolley (3) and a control system, wherein the base frame (1) is fixed to a pipe pile, the positioning adjustment mechanism (2) is installed on the base frame (1) to realize the rapid docking of two pipe piles, the guide rail (4) is installed on the positioning adjustment mechanism (2), and the welding trolley (3) is arranged on the guide rail (4) and can move along the circumferential direction of the guide rail (4) to realize the automatic welding of two pipe piles; The positioning adjustment mechanism (2) comprises a base (201), a socket (202), a first shaft (203), a first slider (204), a heavy spring (205), and a cylindrical bolt (206); the base (201) is provided with a bayonet structure connected to the base frame (1) and a hole structure connected to the guide rail (4); the hole structure is a strip hole or a waist hole; the socket (202) is detachably fixed to the base (201); the first shaft (203) passes through the socket (202) and the first slider (204); the heavy spring (205) is sleeved on the first shaft (203) between the first slider (204) and the side wall of the socket (202); and the cylindrical bolt (206) is provided on one side of the socket (202) and can be pushed in or out on the socket (202); The base frame (1) comprises a steel belt (101), a support block (102) and a locking assembly. The support block (102) is provided in plurality and arranged on the inner side of the steel belt (101). The steel belt (101) is provided with a plurality of connection holes A for achieving connection with the support block (102). The locking assembly comprises a notch block (103), an L-shaped block (105) and a hook bolt (104). The notch block (103) is connected to one end of the steel belt (101), and the L-shaped block (105) is connected to the other end of the steel belt (101). The hook portion at one end of the hook bolt (104) cooperates with the notch block (103), and the other end passes through the L-shaped block (105) and is matched with a nut.

2. The pipe pile quick docking and automatic welding equipment according to claim 1 is characterized in that: The socket (202) is Y-shaped and comprises a notch portion and a strip portion. The two lips of the notch portion are provided with a through hole A for the first shaft (203) to pass through. The base (201) is provided with a slot (208) for the strip portion to be inserted into. The strip portion and the base (201) are screwed and fixed together via a five-star handle (207).

3. The pipe pile quick docking and automatic welding equipment according to claim 1 is characterized in that: At least three positioning adjustment mechanisms (2) are provided.

4. The pipe pile quick docking and automatic welding equipment according to claim 1 is characterized in that: A chamfer is provided on the top of the first sliding block (204), and the first sliding block (204) is also provided with a stopper that matches with the notch of the socket (202) and a through hole B for the first shaft (203) to pass through.

5. The pipe pile quick docking and automatic welding equipment according to claim 1 is characterized in that: The guide rail (4) is circular, and the outer side is toothed.

6. The pipe pile quick docking and automatic welding equipment according to claim 1 is characterized in that: The welding carriage (3) comprises a wheel train structure, a driving device, a welding gun (301), a clamping mechanism (302), an up-and-down moving component, and a forward-and-backward moving component; The gear train structure comprises a roller (318), a first gear (314), a second gear (321), a second shaft (317), a third shaft (313), a fourth shaft (320), a triangular plate (319), an adjustable locking handle (316), a worm wheel (315), and a T-shaped connecting plate (322); the roller (318) is connected to the tip of the long notch of the triangular plate (319) via the second shaft (317); one end of the second shaft (317) is connected to the adjustable locking handle (316) for fixing the roller (318) to the triangular plate (319); the first gear (314) and the worm wheel (313) are connected to the triangular plate (319); 15) is sleeved on the third shaft (313), the two ends of the third shaft (313) are respectively connected to the T-shaped connecting plate (322) and the triangular plate (319), the second gear (321) is connected to the triangular plate (319) and the T-shaped connecting plate (322) through the fourth shaft (320), the roller (318), the first gear (314) and the second gear (321) are all provided with a groove for the guide rail (4) to be snapped into, the driving device comprises a first motor (311) and a worm (312), one end of the worm (312) is connected to the output shaft of the first motor (311), and the other end is matched with the worm wheel (315); The forward and backward moving assembly is composed of a second slider (310), a slider fastener (309), a screw rod (308), a coupling (307), and a second motor (306); the slider fastener (309) is mounted on a T-shaped connecting plate (322) and forms a slide groove for the second slider (310) to move; one end of the screw rod (308) is connected to the output shaft of the second motor (306) through the coupling (307), and the other end passes through a corresponding threaded hole on the second slider (310); The up-and-down moving assembly is composed of a third gear (304), a rack plate (303), and a third motor (305); the rack plate (303) is arranged in a strip groove provided on the second slider (310) and can move along the length direction of the strip groove; the third motor (305) is installed on the second slider (310); the third gear (304) is connected to the output shaft of the third motor (305) and meshes with the rack plate (303); One end of the clamping mechanism (302) is directly or indirectly detachably fixed to the rack plate (303), and the other end clamps the welding gun (301).

7. The pipe pile quick docking and automatic welding equipment according to claim 6 is characterized in that: The welding carriage (3) further comprises a positioning module (323) mounted on the welding gun (301), wherein the positioning module (323) comprises, but is not limited to, any one or a combination of a laser weld tracker, a displacement sensor, a tactile sensor, and a visual sensor.

8. The pipe pile quick docking and automatic welding equipment according to claim 1, characterized in that: The control system includes an operating machine, a power supply, a central control computer and safety equipment.

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