Magnetic attraction movable rail type pipe welding robot and welding method

Abstract

This invention provides a magnetically attached movable track-type pipe welding robot and welding method, including a track body curved in an arc shape. Positioning mechanisms are distributed along the inner side of the track body along its own arc. These positioning mechanisms are magnetically attached to the pipe to be welded and can drive the track body to move circumferentially and axially along the pipe. A welding torch mounting mechanism is also provided on the track body, with an automatic welding torch fixed to it. The welding torch mounting mechanism is slidably connected to the track body and can move along the arc of the track body. The welding torch mounting mechanism and the positioning mechanism avoid each other along the axial direction of the track body's arc. The arc-shaped track body of this invention, magnetically attached to the pipe by the positioning mechanism, facilitates installation. The positioning mechanism drives the track body to move circumferentially and axially along the pipe, ensuring that the track body and the weld bevel are parallel and concentric, improving the pass rate of automatic pipe welding.

Description

Technical Field

[0001] This invention relates to the field of track-type welding robot technology, specifically to a magnetically movable track-type pipe welding robot and a welding method. Background Technology

[0002] Pipe joints typically require a tight seal, and butt welding is a common type of pipe connection. Ideally, butt welding involves rotating the pipe using a positioner while the welding torch remains stationary, ensuring a flat welding position and minimizing welding difficulty. However, in many on-site construction projects, pipes cannot be rotated, necessitating manual or semi-automatic welding by welders. Often, a single butt joint on a thick-walled pipe requires several welders working for several days. Due to the influence of human factors and the working environment, manual welding often requires multiple welding operations for a thick-walled pipe joint, with inspections conducted after each 20mm weld. Defects must be removed and repaired, resulting in high labor intensity for welders and, more importantly, difficulty in guaranteeing weld quality.

[0003] To reduce the adverse effects of manual welding on large pipe fitting connections and improve the efficiency and quality of installation, research is needed on fully automated pipeline welding robots. These robots move the welding torch with high precision according to a specific motion posture, allowing the torch to perform welding operations along the weld seam, achieving optimal control of welding and motion parameters. A common type of pipeline welding robot is the track-based welding robot, which uses a closed track with two welding machines simultaneously welding on both sides. While the closed track provides a larger range of motion and allows for simultaneous welding on both sides, its drawbacks are also significant. The installation and positioning of the circular closed track is a challenge. Traditional track-based welding robots typically use segmented, collapsible tracks or flexible tracks, making clamping and positioning extremely cumbersome and requiring considerable construction equipment and manpower for track installation. For complex field construction environments and the safety of construction personnel, on-site installation of closed tracks is not suitable.

[0004] For example, patent document CN104690456A describes a pipe welding robot. During operation, the internal gear ring of the track meshes with the drive gear of the welding robot to ensure that the welding robot moves around the internal gear ring. The track ring is tangentially engaged with the inner guide roller of the welding robot to achieve circumferential movement of the welding robot around the pipe being welded. Patent document CN110732754A describes a TIG welding device for LNG pipeline docking, including a ring track, a moving trolley module, and a welding module; the welding module is mounted on the moving trolley module and extends from the ring track.

[0005] The aforementioned existing technologies also suffer from the problems of the aforementioned closed-loop track, namely, difficulty in installation and positioning, and troublesome clamping and positioning. Summary of the Invention

[0006] The technical problem to be solved by this invention is: in order to solve the problem of difficult installation and positioning of traditional track-type welding robots in closed tracks, this invention provides a magnetically attracted movable track-type pipe welding robot and welding method.

[0007] The technical solution of the present invention to solve the above-mentioned technical problems is as follows:

[0008] This invention provides a magnetically attached movable track-type pipe welding robot, comprising a track body curved along an arc. Positioning mechanisms are distributed along the inner side of the track body along its own arc. These positioning mechanisms are magnetically attached to the pipe to be welded and can drive the track body to move circumferentially and axially along the pipe. The track body also has a welding torch mounting mechanism, on which an automatic welding torch is fixed. The welding torch mounting mechanism is slidably connected to the track body and can move along the arc of the track body. The welding torch mounting mechanism and the positioning mechanisms avoid each other along the arc of the track body.

[0009] The beneficial effects of this invention are:

[0010] (1) The track body of this invention is arc-shaped and magnetically adsorbed onto the pipe to be welded by the positioning mechanism, thus solving the installation convenience requirement of the track-type welding robot; (2) The positioning mechanism drives the track body to move circumferentially and axially along the pipe, which can be finely adjusted with the welding position of the pipe to be welded to ensure that the track body and the weld bevel are parallel and concentric, thereby improving the pass rate of automatic pipe welding; (3) The movement of the welding gun mounting mechanism along the track body improves the motion stability of the all-position welding robot. This invention is suitable for track-type welding of pipelines in the field.

[0011] Based on the above technical solution, the present invention can be further improved as follows.

[0012] Furthermore, the welding torch mounting mechanism includes a housing arranged around the track body, with an opening on the inner side of the housing facing the track body and avoiding the positioning mechanism; the housing contains a gear and at least two axles, each axle having at least two first pulleys, the first pulleys contacting the outer surface of the track body and capable of rolling circumferentially along the arc of the track body; the inner side of the track body has a rack along its own arc, the rack avoiding the positioning mechanism and cooperating with the gear, and the housing also has a motor for driving the gear.

[0013] With the above-mentioned further improvements, the welding torch mounting mechanism can be controlled to move along the track body by the motor driving the gear to roll on the rack. This facilitates the control of the moving speed, prevents the welding torch mounting mechanism from slipping excessively, and ensures smooth operation and welding quality.

[0014] Furthermore, a second pulley is provided inside the outer casing. The second pulley contacts the inner surface of the track body and can roll circumferentially along the arc of the track body. The second pulley and the positioning mechanism avoid each other along the arc axis of the track body.

[0015] With the above-mentioned further improvements, the second pulley and the first pulley jointly contact the track body, making the welding gun mounting mechanism run smoothly.

[0016] Furthermore, the positioning mechanism includes a roller mounting frame and a mounting block. The roller mounting frame is equipped with a magnetic suction wheel, which is used to adhere to the pipe to be welded. The roller mounting frame and the mounting block are connected by a lead screw to form a lead screw pair. The axis of the magnetic suction wheel and the lead screw are both arranged parallel to the arc axis of the track body. The mounting block is used to connect to the inner side of the track body.

[0017] With the above-mentioned further improvements, the roller mounting frame and the mounting block are driven by the screw to generate relative movement along the arc axis of the track body, thereby adjusting the position of the track body along the pipeline axis, which is convenient for fine adjustment, so that the track body is concentric with the weld to be welded and the automatic welding gun is facing the weld to be welded.

[0018] Furthermore, the magnetic wheel is equipped with a hub motor for driving its own rotation.

[0019] The above-mentioned further improvements facilitate the control of the magnetic wheel's movement without taking up extra space.

[0020] Furthermore, the roller mounting bracket is provided with a guide rail on the side near the mounting block. The guide rail is arranged parallel to the lead screw. The mounting block is slidably connected to the guide rail, the mounting block is screwed to the lead screw, and the lead screw is movably connected to the roller mounting bracket.

[0021] The above-mentioned further improvements enhance the stability of the relative movement between the roller mounting bracket and the mounting block.

[0022] Furthermore, the roller mounting bracket is equipped with a miniature motor for driving the lead screw to rotate.

[0023] The above-mentioned further improvements facilitate control of the relative movement between the roller mounting bracket and the mounting block, making operation convenient.

[0024] Furthermore, the guide rails are in the form of two pieces, which are respectively arranged on both sides of the lead screw.

[0025] Furthermore, the center angle of the track body that bends along the arc is 90° to 210°.

[0026] The above-mentioned further improvements can form a semi-enclosed structure for the pipe to be welded, with a large contact surface with the pipe, which makes it easy for the positioning mechanism to be firmly attached to the pipe; at the same time, there will be no structural interference when assembling with the pipe, which facilitates assembly.

[0027] Furthermore, the center angle of the track body that bends along the arc is 150° to 180°.

[0028] Example 2:

[0029] The present invention also provides a pipe welding method based on the above-mentioned magnetically movable track-type pipe welding robot, comprising the following steps:

[0030] S1. Beveling the pipe to be welded to complete the pipe connection, the joint is the part to be welded;

[0031] S2. Place the assembled track body, positioning mechanism, and welding gun mounting mechanism as a whole on the part of the pipe to be welded, and fix the automatic welding gun on the welding gun mounting mechanism.

[0032] S3. Use the positioning mechanism to drive the track body to make slight adjustments along the axis of the pipe to be welded, so that the track body and the bevel of the pipe to be welded are parallel and concentric.

[0033] S4. The welding torch mounting mechanism drives the automatic welding torch to move along the arc of the track body to complete the circumferential welding of the part to be welded.

[0034] S5. The positioning mechanism drives the track body to move circumferentially along the pipe to be welded, while the welding gun mounting mechanism moves so that the automatic welding gun is aligned with the end point of the previous circumferential welding.

[0035] S6. Repeat steps S4-S5 until the circumferential welding of the part to be welded is completed. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the present invention.

[0037] Figure 2 This is a schematic diagram of the welding torch mounting mechanism of the present invention.

[0038] Figure 3 This is a schematic diagram of the positioning mechanism of the present invention.

[0039] Figure 4 This is a schematic diagram of the structure of the present invention installed on the pipe to be welded.

[0040] In the accompanying drawings, the technical features represented by each reference numeral are as follows:

[0041] 1- Track body; 2- Positioning mechanism; 3- Welding gun mounting mechanism; 4- Automatic welding gun; 5- Housing; 6- Wheel and axle; 7- First pulley; 8- Gear; 9- Rack; 10- Second pulley; 11- Roller mounting bracket; 12- Mounting block; 13- Magnetic roller; 14- Lead screw; 15- Guide rail; 20- Pipe to be welded. Detailed Implementation

[0042] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0043] See also: This invention Figure 1-4 .

[0044] Example 1:

[0045] This invention provides a magnetically attached movable track-type pipe welding robot, including a track body 1 that bends along an arc. Positioning mechanisms 2 are distributed along the inner side of the track body 1 along its own arc. The positioning mechanisms 2 are magnetically attached to the pipe 20 to be welded, and can drive the track body 1 to move circumferentially and axially along the pipe 20. A welding torch mounting mechanism 3 is also provided on the track body 1, with an automatic welding torch 4 fixed on it. The welding torch mounting mechanism 3 is slidably connected to the track body 1 and can move along the arc of the track body 1. The welding torch mounting mechanism 3 and the positioning mechanism 2 avoid each other along the arc of the track body 1.

[0046] Note: The welding torch mounting mechanism 3 and the positioning mechanism 2 are axially separated by the arc of the track body 1. Since the positioning mechanism 2 is located inside the track body 1, the welding torch mounting mechanism 3 only needs to open at the position of the positioning mechanism 2 on the inside of the track body 1.

[0047] Principle: such as Figure 1 , 4 As shown, the positioning mechanism 2 is magnetically attached to the pipe 20 to be welded. Installation requires no complex parts assembly. The positioning mechanism 2 drives the track body 1 to move axially along its own arc, aligning the automatic welding torch 4 with the weld seam to be welded. The automatic welding torch 4 is fixed on the welding torch mounting mechanism 3. When the welding torch mounting mechanism 3 moves along the arc of the track body 1, it drives the automatic welding torch 4 to perform circumferential welding. After completing the circumferential welding of the pipe section, the positioning mechanism 2 drives the track body 1 to move circumferentially along its own arc, allowing the welding torch mounting mechanism 3 to return to its previous position relative to the track body 1. The automatic welding torch 4 is then aligned with the endpoint of the previous weld. The welding torch mounting mechanism 3 again moves along the arc of the track body 1, driving the automatic welding torch 4 to continue welding the circumferential weld seam until the entire circumferential weld seam is completed. The wire loosening and arc initiation of the automatic welding torch 4 are techniques within the welding machine field, unrelated to the technical problem solved by this invention, and are existing technologies, such as gas-shielded welding torches and submerged arc welding torches 4.

[0048] In summary: (1) The track body 1 of this invention is arc-shaped and magnetically adsorbed onto the pipe 20 to be welded by the positioning mechanism 2, thus solving the installation convenience requirement of the track-type welding robot; (2) The positioning mechanism 2 drives the track body 1 to move circumferentially and axially along the pipe, which can be finely adjusted with the welding position of the pipe 20 to ensure that the track body 1 and the weld bevel are parallel and concentric, thereby improving the pass rate of automatic pipe welding; (3) The welding torch mounting mechanism 3 moves along the track body 1, which improves the motion stability of the all-position welding robot. This invention is suitable for track-type welding of pipelines in the field.

[0049] Furthermore, the welding torch mounting mechanism 3 includes a housing 5 arranged around the track body 1. The housing 5 has an opening on the inner side facing the track body 1 and avoids the positioning mechanism 2. The housing 5 is provided with a gear 8 and at least two axles 6. Each axle 6 is provided with at least two first pulleys 7. The first pulleys 7 are in contact with the outer surface of the track body 1 and can roll circumferentially along the arc of the track body 1. The inner side of the track body 1 is provided with a rack 9 along its own arc. The rack 9 avoids the positioning mechanism 2 and cooperates with the gear 8. The housing 5 is also provided with a motor for driving the gear 8.

[0050] Note: The outer casing 5 has an opening on the inner side facing the track body 1, avoiding the positioning mechanism 2. This means that when the outer casing 5 moves along the track body 1 through the opening, its solid part avoids the positioning mechanism 2. For example, both the opening and the positioning mechanism 2 are located in the middle or on one side of the arc axis of the track body 1. The rack 9 avoids the positioning mechanism 2. Since the width of the rack 9 is smaller than that of the track body 1, the rack 9 can be installed on one side of the arc axis of the track body 1, and the positioning mechanism 2 can be installed on the other side or in the middle.

[0051] With the above-mentioned further improvements, the welding torch mounting mechanism 3 can be controlled to move along the track body 1 by the motor driving the gear 8 to roll on the rack 9. This facilitates the control of the moving speed, prevents the welding torch mounting mechanism 3 from generating excessive slippage, and ensures smooth operation and welding quality.

[0052] Furthermore, the outer casing 5 is also provided with a second pulley 10, which contacts the inner surface of the track body 1 and can roll along the circumferential arc of the track body 1. The second pulley 10 and the positioning mechanism 2 avoid each other along the axial arc of the track body 1.

[0053] Note: The second pulley 10 avoids the positioning mechanism 2 along the arc axis of the track body 1, just as mentioned above, "when the outer shell moves along the track body 1, its own solid part avoids the positioning mechanism 2." The second pulley 10 can be regarded as the solid part on the outer shell 5.

[0054] With the above-mentioned further improvements, the second pulley 10 and the first pulley 7 jointly contact the track body 1, so that the welding gun mounting mechanism 3 runs smoothly.

[0055] Furthermore, the positioning mechanism 2 includes a roller mounting frame 11 and a mounting block 12. The roller mounting frame 11 is provided with a magnetic suction wheel 13, which is used to adhere to the pipe 20 to be welded. The roller mounting frame 11 and the mounting block 12 are connected by a lead screw 14 to form a lead screw pair. The axis of the magnetic suction wheel 13 and the lead screw 14 are both arranged parallel to the arc axis of the track body 1. The mounting block 12 is used to connect to the inner side of the track body 1.

[0056] With the above-mentioned further improvement, the roller mounting frame 11 and the mounting block 12 are driven by the lead screw 14 to generate relative movement along the arc axis of the track body 1, thereby adjusting the position of the track body 1 along the pipeline axis, which is convenient for fine adjustment, so that the track body 1 is concentric with the weld to be welded and the automatic welding gun 4 is facing the weld to be welded.

[0057] Furthermore, the magnetic wheel 13 is equipped with a hub motor for driving its own rotation.

[0058] The above-mentioned further improvements facilitate the control of the movement of the magnetic chuck 13 without taking up extra space.

[0059] Furthermore, the roller mounting bracket 11 is provided with a guide rail 15 on the side near the mounting block 12. The guide rail 15 is arranged parallel to the lead screw 14. The mounting block 12 is slidably connected to the guide rail 15. The mounting block 12 is screwed to the lead screw 14. The lead screw 14 is movably connected to the roller mounting bracket 11.

[0060] The above-mentioned further improvements enhance the stability of the relative movement between the roller mounting bracket 11 and the mounting block 12.

[0061] Furthermore, the roller mounting bracket 11 is equipped with a miniature motor for driving the lead screw 14 to rotate.

[0062] The above-mentioned further improvements facilitate control of the relative movement between the roller mounting bracket 11 and the mounting block 12, making operation convenient.

[0063] Furthermore, there are two guide rails 15, which are respectively arranged on both sides of the lead screw 14.

[0064] Furthermore, the center angle of the track body 1, which is curved along an arc, is 90° to 210°.

[0065] The above-mentioned further improvements can form a semi-enclosed structure for the pipe 20 to be welded, with a large contact surface with the pipe, which makes it easy for the positioning mechanism 2 to be firmly attached to the pipe; at the same time, there will be no structural interference when assembling with the pipe, which facilitates assembly.

[0066] Furthermore, the center angle of the track body 1, which is curved along an arc, is 150° to 180°.

[0067] Example 2:

[0068] The present invention also provides a pipe welding method based on the above-mentioned magnetically movable track-type pipe welding robot, comprising the following steps:

[0069] S1. Perform beveling on the pipe 20 to be welded to complete the pipe connection. The joint is the part to be welded.

[0070] S2. Place the assembled track body 1, positioning mechanism 2, and welding gun mounting mechanism 3 on the welding part of the pipe 20 to be welded, and fix the automatic welding gun 4 on the welding gun mounting mechanism 3.

[0071] S3. Using the positioning mechanism 2, the track body 1 is finely adjusted along the axis of the pipe to be welded 20 so that the track body 1 and the bevel of the pipe to be welded 20 are parallel and concentric.

[0072] S4. The welding torch mounting mechanism 3 drives the automatic welding torch 4 to move along the arc of the track body 1 to complete the circumferential welding of the part to be welded.

[0073] S5. The positioning mechanism 2 drives the track body 1 to move circumferentially along the pipe 20 to be welded. At the same time, the welding gun mounting mechanism 3 moves so that the automatic welding gun 4 is aligned with the end point of the previous circumferential welding.

[0074] S6. Repeat steps S4-S5 until the circumferential welding of the part to be welded is completed.

[0075] In the description of this invention, it should be understood that if descriptive terms indicating orientation, direction, or positional relationship appear, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc., the orientation or positional relationship indicated in this specification is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of understanding this invention and simplifying the description, and does not indicate or imply that the part, element, or whole referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of this invention.

[0076] Furthermore, if sequential descriptive terms such as "first," "second," etc., appear, their purpose in this specification is for ease of understanding or simplification. For example, to distinguish multiple technical features of the same type or function, which must be mentioned separately, this specification may use prefixes or suffixes to differentiate them. Therefore, they should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. In the description of this invention, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0077] In this invention, when descriptive terms describing structural relationships are used, such as "installation," "connection," "joining," and "fixation," they should be interpreted broadly unless otherwise explicitly specified and limited. For example, "installation," "connection," and "joining" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can refer to the internal communication of two components or the interaction between two components. "Fixation" can refer to integral fixation or detachable fixation using fasteners; it can be direct fixation or fixation through an intermediate medium. For those skilled in the art, the specific meaning of the above descriptive terms in this invention can be understood based on the specific circumstances, the context, and the coherence of the preceding and following text.

[0078] In this invention, if descriptive terms containing subordinate or connecting meanings appear, such as "above" or "below" the second feature, they should not be interpreted restrictively unless otherwise explicitly specified and limited. For example, "above" or "below" can mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. For those skilled in the art, the specific meaning of the above descriptive terms in this invention can be understood based on the specific circumstances, the context, and the coherence of the preceding and following text.

[0079] Furthermore, "above," "on top of," and "above" the first feature in relation to the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "under," and "below" the first feature in relation to the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0080] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. The illustrative expressions of the above terms in this specification 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, examples, and features described in this specification, and such combinations or integrations should all fall within the scope of the present invention.

[0081] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of information available through public channels and in conjunction with the technical teachings given in this application.

Claims

1. A magnetically attractable mobile rail-type pipe welding robot, characterized by: The track body (1) is curved along an arc. A positioning mechanism (2) is distributed along the inner side of the track body (1) along its own arc. The positioning mechanism (2) is magnetically attached to the pipe (20) to be welded. The positioning mechanism (2) can drive the track body (1) to move along the circumference and axial direction of the pipe (20) to be welded. The track body (1) is also provided with a welding gun mounting mechanism (3). An automatic welding gun (4) is fixed on the welding gun mounting mechanism (3). The welding gun mounting mechanism (3) is slidably connected to the track body (1) and can move along the arc of the track body (1). The welding gun mounting mechanism (3) and the positioning mechanism (2) avoid each other in the arc axial direction of the track body (1). The welding torch mounting mechanism (3) includes a housing (5) arranged around the track body (1). The housing (5) has an opening on the inner side of the track body (1) and avoids the positioning mechanism (2). The housing (5) contains a gear (8) and at least two axles (6). Each axle (6) has at least two first pulleys (7). The first pulleys (7) contact the outer surface of the track body (1) and can roll circumferentially along the arc of the track body (1). The inner side of the track body (1) has a rack (9) along its own arc. The rack (9) avoids the positioning mechanism (2) and cooperates with the gear (8). The housing (5) also has a motor for driving the gear (8). The outer shell (5) is also provided with a second pulley (10). The second pulley (10) contacts the inner surface of the track body (1) and can roll along the circumferential arc of the track body (1). The second pulley (10) and the positioning mechanism (2) avoid each other in the axial arc of the track body (1). The positioning mechanism (2) includes a roller mounting frame (11) and a mounting block (12). The roller mounting frame (11) is provided with a magnetic suction wheel (13), which is used to attach to the pipe (20) to be welded. The roller mounting frame (11) and the mounting block (12) are connected by a screw rod (14). The axis of the magnetic suction wheel (13) and the screw rod (14) are both arranged parallel to the arc axis of the track body (1). The mounting block (12) is used to connect to the inner side of the track body (1). The roller mounting bracket (11) is provided with a guide rail (15) on the side near the mounting block (12). The guide rail (15) is arranged parallel to the lead screw (14). The mounting block (12) is slidably connected to the guide rail (15). The mounting block (12) is screwed to the lead screw (14). The lead screw (14) is movably connected to the roller mounting bracket (11). The center angle of the track body (1) that bends along the arc is 90° to 210°.

2. The magnetically-transportable, rail-bound, pipe welding robot according to claim 1, characterized in that The magnetic chuck (13) is equipped with a hub motor for driving its own rotation.

3. The magnetic mobile rail pipe welding robot according to claim 1, characterized in that: The guide rails (15) are in the form of two pieces and are respectively arranged on both sides of the lead screw (14).

4. The magnetically-transportable, rail-bound, pipe-welding robot of claim 1, wherein: The roller mounting bracket (11) is equipped with a miniature motor for driving the lead screw (14) to rotate.

5. A method of pipe welding, implemented by means of the magnetically attractable mobile rail pipe welding robot according to any one of claims 1-4, characterized in that, Includes the following steps: S1. Perform beveling on the pipe (20) to be welded to complete the pipe connection. The joint is the part to be welded. S2. Place the assembled track body (1), positioning mechanism (2), and welding gun mounting mechanism (3) on the welding part of the pipe (20) to be welded, and fix the automatic welding gun (4) on the welding gun mounting mechanism (3). S3. Using the positioning mechanism (2), the track body (1) is driven to make slight adjustments along the axis of the pipe (20) to be welded, so that the track body (1) and the bevel of the pipe (20) to be welded are parallel and concentric. S4. The welding torch mounting mechanism (3) drives the automatic welding torch (4) to move along the arc of the track body (1) to complete the circumferential welding of the part to be welded. S5. The positioning mechanism (2) drives the track body (1) to move circumferentially along the pipe (20) to be welded, while the welding gun mounting mechanism (3) moves so that the automatic welding gun (4) is directly facing the end point of the previous circumferential part welding. S6. Repeat steps S4-S5 until the circumferential welding of the part to be welded is completed.

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