A quick-clamping and self-adjusting pipe welding track device

Abstract

This invention relates to a rapid clamping and self-adjusting distance pipe welding track device, belonging to the technical field of pipe welding robots. The rapid clamping and self-adjusting distance pipe welding track device includes: a segmented rapid clamping track, comprising a first track segment, a second track segment, and a third track segment arranged circumferentially along the pipe to be welded, wherein the first track segment is movably connected to the second and third track segments respectively, forming a clamping cavity for clamping the pipe to be welded; an opening adjustment unit, comprising a first driving component and a second driving component, wherein the two ends of the first driving component are respectively connected between the first track segment and the second track segment; and an axial adjustment unit detachably disposed between the segmented rapid clamping track and the pipe to be welded. Beneficial effects: It enables the rapid clamping and positioning of the track for the pipe to be welded, and the adjustment of its axial and radial relative positions.

Description

Technical Field

[0001] This invention belongs to the field of pipeline welding robot technology, specifically relating to a rapid clamping and self-adjusting distance pipeline welding track device. Background Technology

[0002] Traditional manual welding of circumferential welds requires welders to constantly change welding positions while holding a welding torch. The confined space inside some pipes further exacerbates the problem, resulting in a harsh working environment, high workload, low welding efficiency, and difficulty in achieving high weld quality and stability. Currently, welding robots are widely used in pipe welding operations. The fully automated external welding (GMAW) single-sided welding with double-sided forming technology has become the primary process for circumferential welds. The welding robot track is a dedicated mechanism mounted on the pipe for the welding robot to move and position itself. The position of the track relative to the pipe to be welded directly determines the path of the welding carriage relative to the weld seam, thus affecting the welding quality. Therefore, the pipe welding track should meet the following requirements: (1) simple structure and convenient and quick installation; (2) the ability to adjust and fix the relative position of the track plane to the pipe to be welded, ensuring that the axial and radial positional accuracy of the circumferential weld seam on the pipe surface meets the requirements.

[0003] Existing welding robot tracks typically fail to meet the requirements for rapid clamping and precise axial and radial position adjustment. Chinese utility model patent CN212599846U, entitled "A Single-Row Toothed Track for a Pipe Welding Robot and a Traveling Device Using the Track," discloses a specific structural form of a single-row toothed track for a pipe welding robot. The track body is a regular rectangle with at least three track springs evenly distributed on any surface. The track body also has evenly distributed toothed holes perpendicular to the sidewalls. The two ends of the track body are connected by a locking mechanism. However, this track is an indivisible unit, and the locking mechanism is relatively complex and inconvenient to operate. It fails to meet the requirements for convenient and rapid clamping, and the track cannot achieve adjustment of the relative position between the track and the pipe to be welded. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a quick clamping and self-adjusting pipe welding track device, so as to realize the functions of quick clamping and positioning of the track for the pipe to be welded and adjusting the axial and radial relative positions.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A rapid clamping and self-adjusting pipe welding track device includes: a segmented rapid clamping track, comprising a first track segment, a second track segment, and a third track segment arranged circumferentially along the pipe to be welded; the first track segment is movably connected to the second track segment and the third track segment respectively, forming a clamping cavity for clamping the pipe to be welded; an opening adjustment unit, comprising a first driving component and a second driving component; the two ends of the first driving component are respectively connected between the first track segment and the second track segment, for driving the second track segment to rotate relative to the first track segment; the two ends of the second driving component are respectively connected between the first track segment and the third track segment, for driving the third track segment to rotate relative to the first track segment, thereby adjusting the size of the opening formed between the second track segment and the third track segment, wherein the maximum distance of the opening is larger than the outer diameter of the pipe to be welded; and an axial adjustment unit, detachably disposed between the segmented rapid clamping track and the pipe to be welded, for driving the segmented rapid clamping track to move axially along the pipe to be welded and / or adjusting the angle between the axis of the clamping cavity and the axis of the pipe to be welded.

[0006] Beneficial effects:

[0007] (1) Easy and quick installation: The segmented quick clamping rail structure can realize the quick installation and fixation of the pipe to be welded, saving time and effort and with high efficiency.

[0008] (2) Precise positioning: The track as a whole can be precisely adjusted relative to the pipe to be welded through axial and radial adjustment devices, so as to achieve precise matching between the movement path of the welding robot and the weld in subsequent welding operations and improve the quality of the weld.

[0009] Preferably, the axial adjustment unit includes a base and a linkage mechanism. The base is detachably connected to one side of the segmented quick-clamping rail. The linkage mechanism includes a motor, a crank, an adjustable connecting rod, and a connecting rod. The motor is fixedly connected to the base. One end of the crank is rotatably connected to the output end of the motor, and the other end is rotatably connected to one end of the connecting rod. The other end of the connecting rod is rotatably connected to the adjustable connecting rod. The adjustable connecting rod is telescopic in the length direction. One end of the adjustable connecting rod is provided with a locking part for locking into the weld of the pipe to be welded, and the other end is movably connected to the base.

[0010] Preferably, the adjustable connecting rod includes a first connecting section, a second connecting section, and a linear motor. The first connecting section is movably connected to the connecting rod, the second connecting section is movably connected to the base, and the linear motor is disposed between the first connecting section and the second connecting section.

[0011] Preferably, the axial adjustment unit further includes a controller, which is electrically connected to the linear motor.

[0012] Preferably, the clamping assembly includes an upper clamping post and a lower clamping post. The segmented quick clamping track has a concave track groove along its circumference. A rack may be provided on the inner edge of the track groove, and the outer edge is a smooth surface. The outer surfaces of the upper clamping post and the lower clamping post are provided with annular grooves, and the outer edge and the inner edge may be respectively embedded in the corresponding annular grooves.

[0013] Preferably, it further includes a clamping unit for driving the upper clamping column to move radially relative to the lower clamping column within the track groove along the pipe to be welded.

[0014] Preferably, the clamping unit includes a clamping bolt, a clamping nut, a slider, and a groove. The clamping nut is disposed on the other side of the base opposite to the upper clamping post. The base is provided with the groove extending radially along the pipe to be welded. The clamping bolt is connected to the upper clamping post through the slider. The slider is in the groove and can move relative to the groove.

[0015] Preferably, it further includes a radial adjustment unit, which includes a support column arranged circumferentially along the segmented quick clamping track. One end of the support column is fixedly connected to the segmented quick clamping track, and the other end abuts against the outer surface of the pipe to be welded for clamping and fixing. The relative radial position of the segmented quick clamping track and the pipe to be welded can be adjusted by adjusting the length of the support column.

[0016] Preferably, the first track segment can be a semi-circular ring structure, and the second track segment and the third track segment can both be quarter-circular ring structures. Attached Figure Description

[0017] Figure 1 A perspective view of a quick-clamping and self-adjusting pipe welding track device according to an exemplary embodiment of the present invention is shown;

[0018] Figure 2 This diagram shows the open state of a segmented quick-clamping track according to an exemplary embodiment of the present invention; 0 Figure 3 A diagram showing the closed state of a segmented rapid clamping track according to an exemplary embodiment of the present invention is provided.

[0019] Figure 4 A front view of the concave track groove in a segmented quick-clamping track according to an exemplary embodiment of the present invention is shown;

[0020] Figure 5 The segmented quick-clamping track of the present invention illustrates the concave track groove.

[0021] Sectional view;

[0022] 5 Figure 6 A schematic diagram of the structure of the axial adjustment unit according to an exemplary embodiment of the present invention is shown;

[0023] Figure 7 A perspective view of an axial adjustment unit according to an exemplary embodiment of the present invention is shown;

[0024] Figure 8 A schematic diagram of the support column in the radial adjustment unit of an exemplary embodiment of the present invention is shown;

[0025] Figure 9 A schematic diagram illustrating the calculation of the adjustable link length in the axial adjustment unit of an exemplary embodiment of the present invention is shown.

[0026] The attached diagram lists the components represented by each number as follows:

[0027] 1. Pipe to be welded; 11. Weld seam; 100. Segmented quick clamping rail; 110. First rail segment; 120. Second rail segment; 130. Third rail segment; 140. Concave rail groove; 141. Outer edge;

[0028] 142. Inner edge; 150. Clamping cavity; 200. Opening adjustment unit; 210. First driving component; 220. Second driving component; 300. Axial adjustment unit; 310. Base; 320. Linkage mechanism; 321. Motor; 322. Crank; 323. Adjustable connecting rod; 3231. First connecting section; 3232. Second connecting section; 3233. Linear motor; 3234. Engaging part; 324. Connecting rod; 325. Connecting seat; 330. Clamping assembly; 331. Upper clamping column; 332. Lower clamping column; 340. Clamping unit; 341. Clamping bolt; 342. Clamping nut; 343. Slider; 344. Slide groove; 400. Radial adjustment unit; 410. Support column. Detailed Implementation

[0029] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0030] Example

[0031] like Figure 1-2 As shown, this embodiment provides a quick clamping and self-adjusting pipe welding track device, including: a segmented quick clamping track 100, an opening adjustment unit 200, an axial adjustment unit 300, and a radial adjustment unit 400.

[0032] The segmented quick clamping track 100 (hereinafter referred to as the track) is divided into three segments along the circumference, specifically including the upper first track segment 110, the lower left second track segment 120 and the lower right third track segment 130.

[0033] In this embodiment, the upper first track segment 110 is a semi-circular ring structure (i.e., a 180° fan-shaped ring structure), and the lower second track segment 120 and third track segment 130 are both quarter-circular ring structures (i.e., 90° fan-shaped ring structures). According to this embodiment, the track is a three-segment arc design, with one arc angle of 180° and two arc angles of 90°. Quick clamping and disassembly can be achieved by unfolding or closing the track. However, the invention is not limited to this; the first track segment 110, the second track segment 120, and the third track segment 130 can also all be 120° circular ring structures or circular ring structures with other angles. Furthermore, the overall shape of the segmented quick-clamping track 100 after closure, besides being a circular ring, can also be an elliptical ring, a square ring, an irregular ring, etc.

[0034] The upper end of the outer edge of the second track segment 120 is movably connected to the left side of the outer edge of the first track segment 110. In this embodiment, the second track segment 120 and the first track segment 110 are connected by a hinge, but the invention is not limited to this; the second track segment 120 and the first track segment 110 can also be connected by a pin or other movable connection methods. To adjust the movement of the second track segment 120 relative to the first track segment 110, a first driving member 210 in the opening adjustment unit 200 is provided between the first track segment 110 and the second track segment 120. The upper end of the first driving member 210 is connected to the first track segment 110, and the lower end is connected to the second track segment 120, so that the second track segment 120 can rotate around the first track segment 110 through the extension and retraction of the first driving member 210. In this embodiment, the first driving member 210 is a hydraulic cylinder, but the invention is not limited to this; the first driving member 210 can also be a pneumatic cylinder, a motor, a lead screw, or other driving members.

[0035] A third track segment 130 is connected at a position symmetrical to the second track segment 120 on the right side of the outer edge of the first track segment 110. The upper end of the outer edge of the third track segment 130 is movably connected to the right side of the outer edge of the first track segment 110. In this embodiment, the third track segment 130 and the first track segment 110 are connected by a hinge, but the invention is not limited to this; the third track segment 130 and the first track segment 110 can also be connected by a pin or other movable connection methods. To adjust the movement of the third track segment 130 relative to the first track segment 110, a second driving member 220 in the opening adjustment unit 200 is provided between the first track segment 110 and the third track segment 130. The upper end of the second driving member 220 is connected to the first track segment 110, and the lower end is connected to the third track segment 130, so that the third track segment 130 can rotate around the first track segment 110 by the extension and retraction of the second driving member 220. In this embodiment, the second driving component 220 is a hydraulic cylinder, but the present invention is not limited thereto. The second driving component 220 may also be a pneumatic cylinder, a motor, a lead screw, or other driving components.

[0036] According to an embodiment of the present invention, when the quick-clamping and self-adjusting pipe welding track assembly needs to clamp the pipe 1 to be welded, the extension and retraction of the opening adjustment units 200 on the left and right sides drives the second track segment 120 and the third track segment 130 to rotate and unfold around the first track segment 110, forming an opening at the bottom of the track. That is, by retracting the first driving member 210, the second track segment 120 is driven to rotate relative to the first track segment 110, and by retracting the second driving member 220, the third track segment 130 is driven to rotate relative to the first track segment 110, thereby adjusting the opening formed between the second track segment 120 and the third track segment 130 to become larger. When the opening size is larger than the outer diameter of the pipe 1 to be welded, the entire track assembly can be hoisted above the pipe 1 to be welded, and the track can be lowered so that the pipe 1 to be welded enters the opening and the outer edge of the pipe 1 to be welded is close to the inner edge of the first track segment 110. At this time, the extension of the opening adjustment unit 200 drives the second track segment 120 and the third track segment 130 to rotate around the first track segment 110, thereby closing the lower opening. In other words, by extending the first driving member 210, the second track segment 120 is driven to rotate relative to the first track segment 110. By extending the second driving member 220, the third track segment 130 is driven to rotate relative to the first track segment 110, thereby adjusting the opening formed between the second track segment 120 and the third track segment 130 to become smaller until the opening is closed.

[0037] In other words, according to this embodiment of the invention, the track is divided into three sections: an upper 180° semicircular section and two lower 90° sections. The 90° and 180° tracks are connected by hinges to form a rotating pair. By extending and retracting the hydraulic cylinder, the 90° track can be rotated along the hinge point to unfold it, forming an opening at the bottom of the track. Once the opening distance is greater than the outer diameter of the steel pipe, the track can be directly hoisted onto the pipe. After hoisting into place, the hydraulic cylinder is driven to close the track.

[0038] Figure 3 The diagram shows the closed state of the segmented quick clamping track in the quick clamping and self-adjusting pipe welding track assembly of an exemplary embodiment of the present invention.

[0039] like Figure 3 As shown, after the segmented quick-clamping rail is closed, the second rail segment 120 and the third rail segment 130 are in contact with each other. To keep the segmented quick-clamping rail in the closed state, a locking element is provided at the joint of the second rail segment 120 and the third rail segment 130 after closure, locking the second rail segment 120 and the third rail segment 130 together. In this embodiment, the second rail segment 120 and the third rail segment 130 are connected using a pin, but the invention is not limited to this; bolts or other fixing methods can also be used. Thus, the inner edges of the first rail segment 110, the second rail segment 120, and the third rail segment 130 enclose a clamping cavity 150. The diameter of the clamping cavity 150 should be larger than the outer diameter of the pipe 1 to be welded, thereby clamping the pipe 1 to be welded inside the clamping cavity 150.

[0040] Figure 4 The illustration shows a front view of the recessed track groove in the segmented quick clamping track of the quick clamping and self-adjusting pipe welding track assembly, an exemplary embodiment of the present invention. Figure 5 A cross-sectional view of the concave track groove in the segmented quick clamping track of the quick clamping and self-adjusting pipe welding track assembly of an exemplary embodiment of the present invention is shown.

[0041] like Figure 4 and Figure 5 As shown in the figure, in this embodiment, the segmented quick-clamping rail 100 is a rigid structure, and the rail plane is parallel to the end face of the pipe 1 to be welded. An annular concave rail groove 140 is also provided on the segmented quick-clamping rail 100. The concave rail groove 140 has an outer edge 141 and an inner edge 142. That is, the segmented quick-clamping rail 100 is recessed axially to form the concave rail groove 140. Figure 5As can be seen, the cross-section of the segmented quick-clamping track 100 is concave. The inner edge 142 of the concave track groove 140 has a rack-and-tooth structure, while the outer edge is smooth. Here, the inner edge 142 refers to the side wall of the concave track groove 140 closest to the pipe 1 to be welded, and the outer edge 141 refers to the other side wall of the concave track groove 140 furthest from the pipe 1 to be welded. The inner edge 142 of the concave track groove 140 mainly engages with the inner toothed wheels of the welding robot, providing rotation. The welding robot's trolley gear meshes with the inner toothed surface, driving the trolley's movement. The outer edge 141 of the concave track groove 140 engages with the outer toothless wheels of the welding robot, providing guidance and ensuring the trolley moves in a circular motion along the pipe. Alternatively, the concave track groove 140 can be replaced with a double-ring track or other types of tracks that can accommodate the welding robot's trolley. However, compared to other rotation methods, gear rotation offers higher precision and stronger impact resistance. Furthermore, the rotation of the gear is not affected by the opening and closing of the track, and the inner track can re-form a complete gear after the track is closed.

[0042] Figure 6 A schematic diagram of the axial adjustment unit in the quick clamping and self-adjusting pipe welding track assembly of an exemplary embodiment of the present invention is shown. Figure 7 A perspective view of the axial adjustment unit in the quick clamping and self-adjusting pipe welding track assembly of an exemplary embodiment of the present invention is shown. Figure 8 This diagram illustrates a support column in the radial adjustment unit of a quick-clamping and self-adjusting pipe welding track assembly according to an exemplary embodiment of the present invention. Figure 9 A schematic diagram illustrating the calculation of the adjustable connecting rod length in the axial adjustment unit of the quick clamping and self-adjusting pipe welding track assembly according to an exemplary embodiment of the present invention is shown.

[0043] To adjust the axial position of the track and prevent excessive axial installation errors from causing the weld to exceed the robot's maximum stroke during welding, such as... Figure 1 and Figure 3 As shown, several axial adjustment units 300 are also provided on one side of the segmented quick-clamping track 100. In this embodiment, there are three such units, but the invention is not limited to this; there can be two, four, or even more. Their positions are evenly distributed circumferentially along the clamping cavity 150 formed after the segmented quick-clamping track 100 is closed. The extension length of each of the multiple axial adjustment units 300 can be different, thereby adjusting the angle between the axis of the clamping cavity of the segmented quick-clamping track and the axis of the pipe. For example, adjusting the angle to 0°, so that the segmented quick-clamping track is collinear or parallel to the axis of the pipe. The extension length of each of the multiple axial adjustment units 300 can be the same, thereby driving the track to move axially along the pipe.

[0044] like Figure 6 and Figure 7As shown, the axial adjustment unit 300 consists of a base 310, a linkage mechanism 320, a clamping assembly 330, and a clamping unit 340.

[0045] The clamping assembly 330 is installed between the base 310 and the segmented quick clamping track 100. In this embodiment, the clamping assembly 330 may include an upper clamping post 331 and a lower clamping post 332. The upper clamping post 331 may have two clamping posts, or one, three, or more. The lower clamping post 332 may also have two clamping posts, or one, three, or more. The clamping assembly 330 may also include other forms of components such as clamping plates, clamping seats, or clamping brackets. The upper clamping post 331 and the lower clamping post 332 are spaced apart along the radial direction of the quick clamping track 100 on the base 310, so that the upper clamping post 331 and the lower clamping post 332 can be respectively engaged between the inner edge 142 and the outer edge 141 of the concave track groove 140. The outer surfaces of the upper clamping post 331 and the lower clamping post 332 are both smooth cylindrical surfaces, and annular grooves are formed on the outer surfaces of the upper clamping post 331 and the lower clamping post 332. The outer edge 141 of the concave track groove 140 can be embedded in the annular groove on the upper clamping post 331, and the inner edge 142 of the concave track groove 140 can be embedded in the annular groove on the lower clamping post 332, so that the axial adjustment unit 300 is inserted into the concave track groove 140 as a whole. The distance between the upper clamping post 331 and the lower clamping post 332 can be adjusted by the clamping unit (described in detail later), thus enabling the quick installation and disassembly of the axial adjustment device.

[0046] In this embodiment, the linkage mechanism 320 may include a motor 321, a crank 322, an adjustable connecting rod 323, a connecting rod 324, and a connecting seat 325.

[0047] The motor 321 can be a stepper motor. The motor 321 is fixed to the other side of the base 310 relative to the clamping assembly 330 by a connecting seat 325 (e.g., bolt fixing). Alternatively, the motor 321 can be directly glued, welded or fixed to the base 310 by other connection methods.

[0048] Crank 322 is the driving component, driven by motor 321. One end of crank 322 is connected to the shaft of motor 321, so crank 322 can rotate around the shaft of motor 321 under the drive of motor 321. Adjustable connecting rod 323 can be divided into a first connecting section 3231, a second connecting section 3232, and a linear motor 3233 connected between the first connecting section 3231 and the second connecting section 3232. In this embodiment, the first connecting section 3231 is connected to one end of connecting rod 324 by a hinge, but it can also be connected movably by a pin or joint. In this embodiment, the second connecting section 3232 is connected to base 310 by a hinge, but it can also be connected movably by a pin or joint. In this embodiment, linear motor 3233 is fixedly sleeved between the first connecting section 3231 and the second connecting section 3232, but it can also be fixedly connected by welding, bonding, bolt and screw hole connection, or other fixed connection methods. The adjustable connecting rod 323 is extended and retracted by the linear motor 3233 to align the clamp (i.e., the linkage mechanism) with the weld. Then, the motor 321 drives the crank 322 to press down the clamp and lock the weld. To improve the pressing effect, a locking part 3234 is also provided at the end of the first connecting section 3231. In this embodiment, the locking part 3234 and the first connecting section 3231 are integrally formed, but they can also be fixed by welding, bonding, bolt and screw hole connection or other fixed connection methods. In this embodiment, the shape of the locking part 3234 is triangular, but it can also be conical, hook-shaped or other shapes, as long as it can be locked into the weld 11 to fix the base 310 relative to the pipe 1 to be welded.

[0049] Connecting rod 324 connects the crank and the adjustable connecting rod for transmitting power. In this embodiment, one end of connecting rod 324 is hinged to crank 322, but it can also be connected in other ways such as by a pin or a joint. In this embodiment, the other end of connecting rod 324 is hinged to the first connecting section 3231 of adjustable connecting rod 323, but it can also be connected in other ways such as by a pin or a joint.

[0050] The axial adjustment unit 300 is equipped with a controller (not shown in the figure). The controller can calculate the length of the adjustable link corresponding to the target axial position based on the distance between the clamp and the target axial position, and the hinge height at the connection between the adjustable link and the base. Adjusting the length of the adjustable link using a linear motor will then pull the track to the target axial position. Figure 9 As shown, L is the adjustable link length, h is the hinge height, and a is the axial distance between the track and the weld. The formula for calculating the adjustable link length L is as follows:

[0051] L=√(h^2+a^2)

[0052] In this embodiment, the clamping unit 340 may include a clamping bolt 341, a clamping nut 342, a slider 343, and a groove 344. The clamping bolt 341 is arranged radially along the segmented quick clamping track 100 on the other side of the base 310 relative to the clamping assembly 330. If the clamping bolt 341 is arranged on the same side of the base 310 relative to the clamping assembly 330, the clamping unit 340 can also achieve the corresponding function without omitting the slider 343 and the groove 344. In this embodiment, the clamping nut 342 is welded onto the base 310, or it can be fixedly connected to the base 310 by riveting, bonding, or integral molding with the base 310. The clamping nut 342 has an internal thread through hole that runs vertically through the base. The outer surface of the clamping bolt 341 has an external thread. The upper part of the clamping bolt 341 can be fitted into the internal thread through hole on the clamping nut 342. The external thread of the clamping bolt 341 is engaged with the internal thread in the internal thread through hole on the clamping nut 342. The lower end of the clamping bolt 341 is connected to the upper clamping column 331 through the slider 343. In this embodiment, the lower end of the clamping bolt 341 is connected to the slider 343 by a movable riveting method, so that the clamping bolt 341 can rotate freely on the slider 343 around the axis of the clamping bolt 341 and the relative position of the clamping bolt 341 and the slider 343 is fixed in the radial direction along the segmented quick clamping track 100. Alternatively, a movable connection groove can be opened on the slider and a movable connection seat can be installed in the movable connection groove. As long as the function of the clamping bolt 341 rotating freely on the slider 343 around the axis of the clamping bolt 341 and the relative position of the clamping bolt 341 and the slider 343 being fixed in the radial direction along the segmented quick clamping track 100 can be achieved, it is acceptable.

[0053] like Figure 6 and Figure 7As shown, a groove 344 is provided on the base 310 below the clamping nut 342 along the radial direction of the segmented quick clamping track 100. The number of grooves 344 corresponds to the number of upper clamping posts 331 and the number of heavy-duty clamping posts. The grooves 344 pass through both sides of the base 310 along the axial direction of the segmented quick clamping track 100. The slider 343 can pass through the groove 344 and is simultaneously connected to the lower end of the upper clamping post 331 and the clamping bolt 341. In this embodiment, the slider 343 and the upper clamping post 331 are connected by welding, but bonding or riveting can also be used. Alternatively, the connection can be fixed in an integral molding manner. The vertical distance from the lowest end of the slide groove 344 to the inner edge 142 of the concave track groove 140 minus the depth of the annular groove on the upper clamping post 331 and the depth of the annular groove on the lower clamping post 332 should be less than the distance between the outer edge 141 and the inner edge 142 of the concave track groove 140. This way, the slider 343 can drive the upper clamping post 331 to move downward along the slide groove 344 to reduce the distance between the upper clamping post 331 and the lower clamping post 332, so that the axial adjustment unit 300 can be removed from the concave track groove 140.

[0054] In this embodiment, when the axial adjustment unit 300 needs to be installed in the concave track groove 140, first tighten the clamping bolt 341 in the clamping unit 340, causing it to move downward in the clamping nut 342. As the clamping bolt 341 moves, it simultaneously drives the slider 343 to move downward along the slide groove 344, thereby also driving the upper clamping column 331 to move downward. When the upper clamping column 331 moves downward to the point where the distance between the upper surface of the upper clamping column 331 and the lower surface of the lower clamping column 332 is less than the distance between the outer edge 141 and the inner edge 142 in the concave track groove 140, the upper clamping column 331 can be adjusted. 31 and the lower clamping column 332 are placed into the concave track groove 140 and the inner edge 142 of the concave track groove 140 is engaged in the annular groove on the lower clamping column 332. At this time, the clamping bolt 341 is tightened again to move it upward in the clamping nut 342, which simultaneously drives the slider 343 to move upward along the slide groove 344, thereby also driving the upper clamping column 331 to move upward. When the outer edge 141 of the concave track groove 140 is engaged in the annular groove on the outer surface of the upper clamping column 331, the tightening of the clamping bolt 341 is stopped. At this time, the installation of the axial adjustment unit 300 in the concave track groove 140 is completed.

[0055] In this embodiment, when the axial adjustment unit 300 needs to be disassembled from the concave track groove 140, the process is the reverse of the installation process of the axial adjustment unit 300 described above. First, the clamping bolt 341 in the clamping unit 340 is tightened, causing it to move downward in the clamping nut 342. As the clamping bolt 341 moves, the slider 343 moves downward along the slide groove 344, which in turn causes the upper clamping column 331 to move downward. When both the inner edge 142 and the outer edge 141 of the concave track groove 140 can be disengaged from the annular grooves on the lower clamping column 332 and the upper clamping column 331, the axial adjustment unit 300 can be disassembled and removed from the concave track groove 140.

[0056] like Figure 3 and Figure 8 As shown in the diagram, in this embodiment, the radial adjustment unit 400 consists of several circumferentially evenly distributed support columns 410 in the clamping cavity 150, with adjustable support height. The support columns 410 can be hydraulic cylinders, or other structural forms such as pneumatic cylinders or lead screws. The upper end of the support column 410 is fixedly connected to the inner edge of the segmented quick clamping track 100 by bolts, or it can be fixedly connected by riveting, welding, bonding, or other methods. The lower end of the support column 410 has an arc surface, the curvature of which is the same as the outer surface of the pipe 1 to be welded. When the pipe 1 to be welded is placed in the clamping cavity 150, the lower end of the support column 410 abuts against the outer surface of the pipe 1 to be welded, generating a clamping force on the pipe 1 to be welded. At this time, the lower end of the support column 410 is completely in contact with the outer surface of the pipe 1 to be welded, thereby clamping and fixing the pipe 1 to be welded in the clamping cavity 150. The length of the support column 410 is adjustable. The radial position of the pipe to be welded 1 can be adjusted by simultaneously controlling the length of the support column clamped around the pipe to be welded 1, so that the center of the pipe to be welded 1 coincides with the center of the segmented quick clamping track 100.

[0057] like Figure 3 As shown in the figure, there are a total of 15 support columns 410 arranged inside the quick clamping track 100 in this embodiment. Among them, there are 7 on the first track section 110, and 4 on each of the second track section 120 and the third track section 130. The distance between two adjacent support columns 410 arranged on the first track section 110 is the same, and the distance between two adjacent support columns 410 arranged on the second track section 120 and the third track section 130 is also the same. In addition, there may be other choices for the number of support columns 410 arranged inside the quick clamping track 100, and the distance between two adjacent support columns 410 on each track section may also be different, and it is not limited to the arrangement scheme of this embodiment.

[0058] Working principle:

[0059] After the segmented quick-clamping track 100 is clamped as a whole onto the pipe 1 to be welded, the axial adjustment unit 300 and the radial adjustment unit 400 are used to adjust the overall axial direction and radial position of the segmented quick-clamping track 100. First, the adjustable connecting rod 323 is extended and retracted by controlling the linear motor 3233 so that the engaging part 3234 on the first connecting section 3231 is positioned above the weld 11. Then, the crank 322 is driven by the motor 321 to move the connecting rod 324, causing the engaging part 3234 on the first connecting section 3231 to be pressed down and engaged into the weld 11. All the axial adjustment units 300 arranged in the concave track groove 140 are fixed in the weld 11 in the above manner. The rotation angle of the crank 322 and connecting rod 324, as well as the extension length of the adjustable connecting rod 323, in each axial adjustment unit 300 are adjusted by synchronously controlling the motor 321 and linear motor 3233 in each axial adjustment unit 300 to adjust the overall axial direction of the quick clamping track 100. The axis of the quick clamping track 100 can be adjusted to be parallel to the axis of the pipe 1 to be welded. Then, by controlling and adjusting the length of all the support columns 410 in the radial adjustment unit 400 that are abutting the surface of the pipe 1 to be welded, the center of the quick clamping track 100 is made to coincide with the center of the pipe 1 to be welded. In this way, the axis of the quick clamping track 100 is made to coincide with the axis of the pipe 1 to be welded, so that the weld seam of the pipe to be welded can be applied in the next step.

[0060] To perform welding on the welded seams of the pipe, a welding robot is mounted on a sliding trolley. The trolley can move in a circle along the pipe by meshing with the track through its wheels. The welding robot can be a robotic arm, which is mounted on the track through four wheels. Two toothed wheels mesh with the inner toothed track surface, and two toothless wheels mesh with the outer smooth track surface. At the same time, the welding robot can have 4 degrees of freedom and can flexibly adjust its posture to complete complex welding tasks.

[0061] In summary, the quick-clamping and self-adjusting pipe welding track assembly of the present invention enables rapid installation and fixation of the pipe to be welded, offering convenient and fast operation, saving time and effort, and achieving high efficiency. Simultaneously, it provides precise positioning; the track's overall position relative to the pipe to be welded can be precisely adjusted via axial and radial adjustment devices, ensuring accurate matching between the welding robot's movement path and the weld seam during subsequent welding operations, thereby improving weld quality.

[0062] In the description of this invention, it should be understood that the terms "center," "length," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "inner," "outer," "circumferential," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0063] In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0064] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0065] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A quick-clamping and self-adjusting pipe welding track device, characterized in that, include: The segmented quick clamping rail (100) includes a first rail segment (110), a second rail segment (120) and a third rail segment (130) arranged circumferentially along the pipe (1) to be welded. The first rail segment (110) is movably connected to the second rail segment (120) and the third rail segment (130) to form a clamping cavity (150) for clamping the pipe to be welded. The opening adjustment unit (200) includes a first driving component (210) and a second driving component (220). The two ends of the first driving component (210) are respectively connected between the first track segment (110) and the second track segment (120) to drive the second track segment (120) to rotate relative to the first track segment (110). The two ends of the second driving component (220) are respectively connected between the first track segment (110) and the third track segment (130) to drive the third track segment (130) to rotate relative to the first track segment (110), thereby adjusting the size of the opening formed between the second track segment (120) and the third track segment (130). The maximum distance of the opening is larger than the outer diameter of the pipe to be welded. An axial adjustment unit (300) is detachably disposed between the segmented quick clamping track (100) and the pipe to be welded (1), for driving the segmented quick clamping track (100) to move axially along the pipe to be welded (1) and / or adjusting the angle between the axis of the clamping cavity (150) and the axis of the pipe to be welded (1); the axial adjustment unit (300) includes a base (310) and a linkage mechanism (320), the base (310) is detachably connected to one side of the segmented quick clamping track (100), and the linkage mechanism (320) includes a motor (321) and a crank. (322), adjustable connecting rod (323) and connecting rod (324), the motor (321) is fixedly connected to the base (310); one end of the crank (322) is rotatably connected to the output end of the motor (321), and the other end is rotatably connected to one end of the connecting rod (324), and the other end of the connecting rod (324) is rotatably connected to the adjustable connecting rod (323). The adjustable connecting rod (323) can extend and retract in the length direction. One end of the adjustable connecting rod (323) is provided with a locking part for locking into the weld (11) of the pipe (1) to be welded, and the other end is movably connected to the base (310).

2. The rapid clamping and self-adjusting pipe welding track device according to claim 1, characterized in that, The adjustable link (323) includes a first connecting section (3231), a second connecting section (3232), and a linear motor (3233). The first connecting section (3231) is movably connected to the connecting rod (324), and the second connecting section (3232) is movably connected to the base (310). The linear motor (3233) is provided between the first connecting section (3231) and the second connecting section (3232).

3. The rapid clamping and self-adjusting pipe welding track device according to claim 2, characterized in that, The axial adjustment unit (300) also includes a controller, which is electrically connected to the linear motor (3233).

4. The rapid clamping and self-adjusting pipe welding track device according to claim 1, characterized in that, The base (310) is detachably connected to the segmented quick clamping rail (100) via a clamping assembly (330).

5. The rapid clamping and self-adjusting pipe welding track device according to claim 4, characterized in that, The clamping assembly (330) includes an upper clamping post (331) and a lower clamping post (332). The segmented quick clamping track (100) has a concave track groove (140) along its circumference. The inner edge (142) of the track groove (140) may be provided with a rack, and the outer edge (141) is a smooth surface. The outer surfaces of the upper clamping post (331) and the lower clamping post (332) are provided with annular grooves. The outer edge (141) and the inner edge (142) can be respectively embedded in the corresponding annular grooves.

6. The rapid clamping and self-adjusting pipe welding track device according to claim 5, characterized in that, It also includes a clamping unit (340) for driving the upper clamping column (331) to move radially relative to the lower clamping column (332) within the track groove (140) of the pipe (1) to be welded.

7. The rapid clamping and self-adjusting pipe welding track device according to claim 6, characterized in that, The clamping unit (340) includes a clamping bolt (341), a clamping nut (342), a slider (343), and a groove (344). The clamping nut (342) is disposed on the other side of the base (310) relative to the upper clamping post (332). The base (310) is provided with the groove (344) extending radially along the pipe (1) to be welded. The clamping bolt (341) is connected to the upper clamping post (331) through the slider (343). The slider (343) is in the groove (344) and can move relative to the groove (344).

8. The rapid clamping and self-adjusting pipe welding track device according to any one of claims 1-7, characterized in that, It also includes a radial adjustment unit (400), which includes a support column (410) arranged circumferentially along the segmented quick clamping track (100). One end of the support column (410) is fixedly connected to the segmented quick clamping track (100), and the other end abuts against the outer surface of the pipe to be welded (1) for clamping and fixing. The relative radial position of the segmented quick clamping track (100) and the pipe to be welded (1) can be adjusted by adjusting the length of the support column (410).

9. The rapid clamping and self-adjusting pipe welding track device according to any one of claims 1-7, characterized in that, The first track segment (110) may be a semi-circular ring structure, and the second track segment (120) and the third track segment (130) may both be quarter-circular ring structures.

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