A welding robot based on modular processing operations

Abstract

The present invention provides a welding robot based on module processing operation, comprising: a first module, a second module, a third module, a first arc-shaped member, a second arc-shaped member, a first mechanical arm with a welding gun, a second mechanical arm with a welding gun, and a rotating oil cylinder, wherein the rotating oil cylinder is mounted on the top of the third module, the tops of the first arc-shaped member and the second arc-shaped member are both slidably mounted on the bottom of the third module, the first module is vertically mounted on the first arc-shaped member, the second module is vertically mounted on the second arc-shaped member, and the first mechanical arm and the second mechanical arm are slidably mounted on the first module and the second module in a one-to-one correspondence. The first mechanical arm and the second mechanical arm can control the welding gun to perform welding operations on the pipeline weld, which is convenient for the installation and transportation of the welding robot, improves the welding quality, and reduces the labor intensity of the user.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline welding, and in particular to a welding robot based on module processing operations. Background Art

[0002] At present, oil and natural gas are important energy sources for the development of modern society. They are mainly transported through pipelines. Oil and gas pipelines pass through sparsely populated wilderness. They need to be lifted to the appropriate position by lifting equipment, and the interfaces of the pipelines need to be aligned with each other before welding. Existing pipeline welding construction usually uses manual welding.

[0003] Manual welding is difficult to ensure due to the relatively harsh outdoor environment and the fact that welders are easily fatigued after working for a long time. In addition, the object to be welded is a round pipe, and the bottom is not convenient for welding. The welder needs to lie on the ground at the bottom of the pipe to perform "lying welding", which is labor-intensive and detrimental to the welder's health. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a welding robot based on modular processing operations in view of the deficiencies in the prior art.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: A welding robot based on modular processing operations, comprising: a first module, a second module, a third module, a first curved member, a second curved member, a first robotic arm with a welding gun, a second robotic arm with a welding gun, and a rotating cylinder, wherein the rotating cylinder is installed on the top of the third module, the tops of the first curved member and the second curved member are both slidably installed on the bottom of the third module, the first module is vertically installed on the first curved member, the second module is vertically installed on the second curved member, and the first robotic arm and the second robotic arm are slidably installed on the first module and the second module in a one-to-one correspondence.

[0006] The beneficial effects of adopting the technical solution of the present invention are: the first robotic arm and the second robotic arm can control the welding gun to perform welding operations on the pipeline weld, which facilitates the installation and transportation of the welding robot, improves the welding quality, and reduces the labor intensity of the user.

[0007] Furthermore, the first module is vertically mounted on a middle portion of a side of the first arc-shaped member away from the second arc-shaped member, and the second module is vertically mounted on a middle portion of a side of the second arc-shaped member away from the first arc-shaped member.

[0008] The beneficial effects of adopting the above further technical solution are: the arrangement of the modules facilitates the installation and disassembly of the robot arm and facilitates the clamping of the arc-shaped parts on both side walls of the pipeline.

[0009] Furthermore, the first robotic arm is slidably mounted on a side of the first module away from the first arc-shaped member, and the second robotic arm is slidably mounted on a side of the second module away from the second arc-shaped member.

[0010] The beneficial effect of adopting the above further technical solution is that the setting of the module facilitates the installation and disassembly of the robotic arm.

[0011] Furthermore, the rotating cylinder is connected to a mounting platform.

[0012] The beneficial effect of adopting this further technical solution is that a rotary cylinder connected to the upper end of the third module can drive the third module to rotate. This facilitates transportation and equipment installation in mountainous environments. The rotary cylinder can rotate the third module perpendicular to the pipeline axis, thereby facilitating the arc-shaped member to clamp the pipe wall.

[0013] Furthermore, the first module and the second module have the same structure, and the first module includes: a first mobile platform and a first guide rail, the first guide rail is vertically installed in the middle of the side of the first arc-shaped member away from the second arc-shaped member, the first mobile platform is slidably installed on the side of the first guide rail away from the first arc-shaped member, and the first robotic arm is installed on the first mobile platform.

[0014] The above-described further technical solution has the following beneficial effects: the first movable platform can slide vertically relative to the first guide rail. The first movable platform can be used to mount a robotic arm, enabling the robotic arm to slide vertically on the first guide rail. The first guide rail can support and guide the first movable platform to perform reciprocating linear motion in a given direction, facilitating the first, second, and third curved members to clamp or remove the pipe to be welded.

[0015] Furthermore, a first drive motor is provided at one end of the first guide rail, and the first drive motor is connected to the first moving platform via a screw rod.

[0016] The beneficial effect of adopting the above further technical solution is that the first drive motor can control the first mobile platform to complete vertical sliding on the first guide rail. The drive motor and the screw rod work together to achieve self-locking fixation.

[0017] Furthermore, a third arc-shaped member is installed at a middle position of the bottom of the third module, and the first arc-shaped member and the second arc-shaped member are located on both sides of the third arc-shaped member in a one-to-one correspondence.

[0018] The beneficial effect of adopting the above-mentioned further technical solution is that the third arc-shaped member is fixed on the third module and can be in close contact with the top pipe surface of the pipeline. The three arc-shaped members can slide back and forth linearly relative to the fixed block on the second guide rail through two second mobile platforms, so that the first arc-shaped member, the second arc-shaped member and the third arc-shaped member can clamp or disassemble the pipe to be welded. When the second mobile platforms on both sides slide to be close to the middle fixed block, the three arc-shaped members form a ring that can clamp the pipe to be welded. The second mobile platforms on both sides separate to both sides relative to the middle fixed block, forming an opening below the first arc-shaped member and the second arc-shaped member. When the opening distance is greater than the outer diameter of the pipe to be welded, the welding robot can be directly hoisted above the pipe to complete the disassembly.

[0019] Furthermore, the third module includes: a fixed block, a pair of second movable platforms and a second guide rail, the fixed block is fixedly installed at the middle position of the bottom of the second guide rail, the third arc-shaped member is installed on the fixed block, the top of a pair of second movable platforms are slidably installed on the bottom of the second guide rail, a pair of second movable platforms are located on both sides of the third arc-shaped member in a one-to-one correspondence, and the top of the first arc-shaped member and the top of the second arc-shaped member are connected to a pair of second movable platforms in a one-to-one correspondence.

[0020] The beneficial effect of adopting the above-mentioned further technical solution is that the second movable platform can slide laterally relative to the second guide rail. The second guide rail can support and guide the second movable platform to perform reciprocating linear motion in a given direction. This facilitates the first, second, and third curved members to clamp or remove the pipe to be welded.

[0021] Furthermore, a second drive motor is installed at one end of the second guide rail, and the second drive motor is connected to a pair of second movable platforms through a screw rod.

[0022] The beneficial effect of adopting the above-mentioned further technical solution is that the second drive motor can be installed at one end of the second guide rail. The second drive motor can control the two second movable platforms to slide horizontally on the second guide rail. The drive motor and the screw rod work together to achieve self-locking fixation.

[0023] Furthermore, the first robotic arm and the second robotic arm have the same structure, and the first robotic arm is a two-degree-of-freedom robotic arm with axial adjustment and radial adjustment along the pipeline.

[0024] The beneficial effect of adopting the above-mentioned further technical solution is that the first robotic arm and the second robotic arm can both have two degrees of freedom. One degree of freedom is adjustment along the radial direction of the pipeline. Combined with the robotic arm sliding up and down on the first guide rail, a set of robotic arms can complete 180° welding of the pipeline, including welding work at the top and bottom extreme positions of the pipeline to be welded; the other degree of freedom is adjustment along the axial direction of the pipeline. There is no precision requirement for the three-section arc-shaped parts clamping the pipeline to be welded. The robotic arm can adjust axially, ensuring precise welding along the annular seam during welding.

[0025] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is one of the structural schematic diagrams of the welding robot provided in an embodiment of the present invention.

[0027] Figure 2 This is the second structural schematic diagram of the welding robot provided in an embodiment of the present invention.

[0028] Figure 3 This is the third structural schematic diagram of the welding robot provided in an embodiment of the present invention.

[0029] Explanation of the accompanying drawings: 1. First module; 2. Second module; 3. Third module; 4. First arc-shaped member; 5. Second arc-shaped member; 6. Welding gun; 7. First robotic arm; 8. Second robotic arm; 9. Rotating cylinder; 10. Mounting platform; 11. First mobile platform; 12. First guide rail; 13. First drive motor; 14. Third arc-shaped member; 15. Fixed block; 16. Second mobile platform; 17. Second guide rail; 18. Second drive motor; 19. Pipeline. DETAILED DESCRIPTION

[0030] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0031] like Figures 1 to 3As shown, an embodiment of the present invention provides a welding robot based on modular processing operations, including: a first module 1, a second module 2, a third module 3, a first arc-shaped member 4, a second arc-shaped member 5, a first robotic arm 7 with a welding gun 6, a second robotic arm 8 with a welding gun 6, and a rotating cylinder 9. The rotating cylinder 9 is installed on the top of the third module 3, and the tops of the first arc-shaped member 4 and the second arc-shaped member 5 are both slidably installed on the bottom of the third module 3. The first module 1 is vertically installed on the first arc-shaped member 4, and the second module 2 is vertically installed on the second arc-shaped member 5. The first robotic arm 7 and the second robotic arm 8 are slidably installed on the first module 1 and the second module 2 in a one-to-one correspondence.

[0032] The beneficial effects of adopting the technical solution of the present invention are: the first robotic arm and the second robotic arm can control the welding gun to perform welding operations on the pipeline weld, which facilitates the installation and transportation of the welding robot, improves the welding quality, and reduces the labor intensity of the user.

[0033] (1) The present invention uses a crawler excavator as an installation platform for the welding robot, which facilitates transportation and equipment installation in mountainous environments.

[0034] (2) The present invention can achieve rapid installation and disassembly by rotating the oil cylinder, the third module and the three arc-shaped parts.

[0035] (3) The present invention can achieve 360° all-position welding of pipelines through the first module, the second module and two sets of robotic arms.

[0036] like Figures 1 to 3 As shown, further, the first module 1 is vertically installed in the middle of one side of the first arc-shaped member 4 away from the second arc-shaped member 5 , and the second module 2 is vertically installed in the middle of one side of the second arc-shaped member 5 away from the first arc-shaped member 4 .

[0037] The beneficial effects of adopting the above further technical solution are: the arrangement of the modules facilitates the installation and disassembly of the robot arm and facilitates the clamping of the arc-shaped parts on both side walls of the pipeline.

[0038] like Figures 1 to 3 As shown, further, the first robotic arm 7 is slidably installed on a side of the first module 1 away from the first arc-shaped member 4, and the second robotic arm 8 is slidably installed on a side of the second module 2 away from the second arc-shaped member 5.

[0039] The beneficial effect of adopting the above further technical solution is that the setting of the module facilitates the installation and disassembly of the robotic arm.

[0040] like Figures 1 to 3 As shown, further, the rotating cylinder 9 is connected to a mounting platform 10.

[0041] The beneficial effect of adopting this further technical solution is that a rotary cylinder connected to the upper end of the third module can drive the third module to rotate. This facilitates transportation and equipment installation in mountainous environments. The rotary cylinder can rotate the third module perpendicular to the pipeline axis, thereby facilitating the arc-shaped member to clamp the pipe wall.

[0042] like Figures 1 to 3 As shown, further, the first module 1 and the second module 2 have the same structure, and the first module 1 includes: a first mobile platform 11 and a first guide rail 12, the first guide rail 12 is vertically installed in the middle of the side of the first arc-shaped member 4 away from the second arc-shaped member 5, the first mobile platform 11 is slidably installed on the side of the first guide rail 12 away from the first arc-shaped member 4, and the first robotic arm 7 is installed on the first mobile platform 11.

[0043] The above-described further technical solution has the following beneficial effects: the first movable platform can slide vertically relative to the first guide rail. The first movable platform can be used to mount a robotic arm, enabling the robotic arm to slide vertically on the first guide rail. The first guide rail can support and guide the first movable platform to perform reciprocating linear motion in a given direction, facilitating the first, second, and third curved members to clamp or remove the pipe to be welded.

[0044] like Figures 1 to 3 As shown, further, a first driving motor 13 is provided at one end of the first guide rail 12, and the first driving motor 13 is connected to the first moving platform 11 through a screw rod.

[0045] The beneficial effect of adopting the above further technical solution is that the first drive motor can control the first mobile platform to complete vertical sliding on the first guide rail. The drive motor and the screw rod work together to achieve self-locking fixation.

[0046] like Figures 1 to 3 As shown, further, a third arc-shaped member 14 is installed at the middle position of the bottom of the third module 3 , and the first arc-shaped member 4 and the second arc-shaped member 5 are located on both sides of the third arc-shaped member 14 in a one-to-one correspondence.

[0047] The beneficial effect of adopting the above-mentioned further technical solution is that the third arc-shaped member is fixed on the third module and can be in close contact with the top pipe surface of the pipeline. The three arc-shaped members can slide back and forth linearly relative to the fixed block on the second guide rail through two second mobile platforms, so that the first arc-shaped member, the second arc-shaped member and the third arc-shaped member can clamp or disassemble the pipe to be welded. When the second mobile platforms on both sides slide to be close to the middle fixed block, the three arc-shaped members form a ring that can clamp the pipe to be welded. The second mobile platforms on both sides separate to both sides relative to the middle fixed block, forming an opening below the first arc-shaped member and the second arc-shaped member. When the opening distance is greater than the outer diameter of the pipe to be welded, the welding robot can be directly hoisted above the pipe to complete the disassembly.

[0048] like Figures 1 to 3 As shown, further, the third module 3 includes: a fixed block 15, a pair of second movable platforms 16 and a second guide rail 17, the fixed block 15 is fixedly installed at the middle position of the bottom of the second guide rail 17, the third arc-shaped member 14 is installed on the fixed block 15, the top of a pair of second movable platforms 16 are slidably installed on the bottom of the second guide rail 17, a pair of second movable platforms 16 are located on both sides of the third arc-shaped member 14 in a one-to-one correspondence, and the top of the first arc-shaped member 4 and the top of the second arc-shaped member 5 are connected to a pair of second movable platforms 16 in a one-to-one correspondence.

[0049] The beneficial effect of adopting the above-mentioned further technical solution is that the second movable platform can slide laterally relative to the second guide rail. The second guide rail can support and guide the second movable platform to perform reciprocating linear motion in a given direction. This facilitates the first, second, and third curved members to clamp or remove the pipe to be welded.

[0050] like Figures 1 to 3 As shown, further, a second drive motor 18 is installed at one end of the second guide rail 17, and the second drive motor 18 is connected to a pair of second moving platforms 16 through a screw rod.

[0051] The beneficial effect of adopting the above-mentioned further technical solution is that the second drive motor can be installed at one end of the second guide rail. The second drive motor can control the two second movable platforms to slide horizontally on the second guide rail. The drive motor and the screw rod work together to achieve self-locking fixation.

[0052] like Figures 1 to 3 As shown, further, the first robotic arm 7 and the second robotic arm 8 have the same structure, and the first robotic arm 7 is a two-degree-of-freedom robotic arm with axial adjustment and radial adjustment along the pipeline 19.

[0053] The beneficial effect of adopting the above-mentioned further technical solution is that the first robotic arm and the second robotic arm can both have two degrees of freedom. One degree of freedom is adjustment along the radial direction of the pipeline. Combined with the robotic arm sliding up and down on the first guide rail, a set of robotic arms can complete 180° welding of the pipeline, including welding work at the top and bottom extreme positions of the pipeline to be welded; the other degree of freedom is adjustment along the axial direction of the pipeline. There is no precision requirement for the three-section arc-shaped parts clamping the pipeline to be welded. The robotic arm can adjust axially, ensuring precise welding along the annular seam during welding.

[0054] Example 1

[0055] The embodiment of the present invention provides a welding robot based on modular processing operations, such as Figure 1 As shown, the system may include: a first module, a second module, a third module, a first curved member, a second curved member, a third curved member, a first robotic arm, a second robotic arm, and a rotary cylinder. The first and second modules are longitudinally arranged and positioned on the left and right sides of the pipeline, respectively; the third module is transversely arranged and positioned above the pipeline. The body of the first curved member is fixed to the end face of the first module facing the pipeline, and its upper end is also slidably connected to the third module. The body of the second curved member is fixed to the end face of the second module facing the pipeline, and its upper end is also slidably connected to the third module. The first and second curved members can slide toward each other along the third module and make close contact with the left and right sides of the pipeline. The first robotic arm is mounted on the end face of the first module facing away from the pipeline and can move up and down along the first module. The second robotic arm is mounted on the end face of the second module facing away from the pipeline and can move up and down along the second module. The first and second robotic arms can control the welding gun to perform welding operations on the pipeline seams. The rotary cylinder is connected to the upper end of the third module and can drive the third module to rotate. The rotary cylinder is also connected to the mounting platform.

[0056] In this embodiment, if Figure 1 As shown, the welding robot may further include a third arc-shaped member, which is fixed on the third module and can be in close contact with the top pipe surface of the pipeline.

[0057] In this embodiment, if Figure 1 As shown, both the first and second modules can include a first movable platform and a first guide rail. The first movable platform is mounted on the end surface of the first guide rail facing away from the pipe and can slide vertically relative to the first guide rail. The first guide rail supports and guides the first movable platform for reciprocating linear motion in a given direction, facilitating the first, second, and third curved members to clamp or remove the pipe to be welded.

[0058] In this embodiment, if Figure 1As shown, the first module and the second module may further include two first drive motors, which may be mounted on one end of each of the two first guide rails. The first drive motors may control the first mobile platform to slide vertically along the first guide rails. The first mobile platform may be used to mount a robotic arm.

[0059] Furthermore, the first guide rail may be a sliding friction guide rail.

[0060] In this embodiment, if Figure 1 As shown, the third module may include a second guide rail, a fixed block, and two second movable platforms located on either side of the fixed block. The fixed block is fixedly mounted in the middle of the lower end of the second guide rail. The two second movable platforms located on either side of the fixed block are also mounted on the lower end of the second guide rail and are capable of sliding laterally relative to the second guide rail. The second guide rail supports and guides the second movable platforms for reciprocating linear motion in a given direction, facilitating the first, second, and third curved members to clamp or remove the pipe to be welded.

[0061] In this embodiment, if Figure 1 As shown, the third module may further include a second drive motor, which may be mounted at one end of the second guide rail. The second drive motor may control the two second mobile platforms to slide laterally on the second guide rail.

[0062] Furthermore, the second guide rail may be a sliding friction guide rail.

[0063] In this embodiment, if Figure 1 As shown, the third arc-shaped member is fixedly mounted on the middle fixed block of the third module; the first arc-shaped member and the second arc-shaped member are respectively located on both sides of the third arc-shaped member and are respectively fixedly mounted on the two second movable platforms of the third module.

[0064] In this embodiment, if Figure 1 As shown, the three curved sections can be moved back and forth linearly relative to the fixed block on the second guide rail via two second movable platforms, allowing the first, second, and third curved sections to clamp or remove the pipe to be welded. When the second movable platforms on either side slide into close contact with the central fixed block, the three curved sections form a ring capable of clamping the pipe to be welded. The second movable platforms on either side separate from the central fixed block, creating an opening below the first and second curved sections. When the opening is greater than the outer diameter of the pipe to be welded, the welding robot can be hoisted directly over the pipe to complete the removal.

[0065] Furthermore, the first arc-shaped member, the second arc-shaped member and the third arc-shaped member may all be rigid structures.

[0066] In this embodiment, if Figure 3As shown, the upper end of the rotary cylinder is flexibly connected to the mounting platform via a flexible connection. The mounting platform can be a crawler excavator, which is suitable for transport and installation in mountainous environments. The crawler excavator and the pipeline welding robot use a flexible connection instead of a traditional rigid connection, which helps to buffer the rigid stress generated during the welding robot installation and reduce damage to the pipeline.

[0067] During installation, the rotary cylinder can rotate the third module to a direction perpendicular to the pipeline axis, so that the rail can clamp the pipeline wall.

[0068] In this embodiment, if Figure 1 As shown, the first robotic arm and the second robotic arm can be fixedly mounted on the first movable platforms of the first module and the second module respectively, so that the robotic arms can slide vertically on the first guide rail.

[0069] In this embodiment, if Figure 1 As shown, the first robotic arm and the second robotic arm may both have two degrees of freedom. One degree of freedom is adjustment along the radial direction of the pipeline. Combined with the robotic arm sliding up and down on the first guide rail, a set of robotic arms can complete 180° welding of the pipeline, including welding work at the top and bottom extreme positions of the pipeline to be welded; the other degree of freedom is adjustment along the axial direction of the pipeline. For the three-section arc-shaped parts that clamp the pipeline to be welded without making precision requirements, the robotic arm can adjust axially, ensuring precise welding along the circumferential seam during welding.

[0070] In order to better understand the above embodiments, the working principle of the present invention is further explained below.

[0071] The present invention uses three arc-shaped pieces to clamp and fix the pipe to be welded, which can achieve rapid installation and disassembly. Figure 3 As shown, the pipeline welding robot is fixed on one side of the pipeline weld. The states before and after fixation are as follows: Figure 1 and Figure 2 As shown, the third arc-shaped member is fixed on the middle fixed block at the lower end of the third module, and the first arc-shaped member and the second arc-shaped member are fixed on the first movable platform and the second movable platform below the third module. When clamping, the third arc-shaped member is first brought into contact with the pipeline, and then the second drive motor of the third module rotates to drive the screw to rotate so that the first arc-shaped member and the second arc-shaped member move toward the middle at the same time. When the first arc-shaped member and the second arc-shaped member are in contact with the pipeline, the rotating cylinder can be rotated to make the arc-shaped member in close contact with the pipe wall, and at the same time, the characteristics of the first drive motor and the second drive motor are used to achieve self-locking fixation.

[0072] Because the present invention utilizes robotic arms to achieve circumferential motion of the pipe weld, with two sets of welding arms each possessing two degrees of freedom, precise clamping and positioning of the entire welding robot is less critical; only rough positioning is required. One set of robotic arms can weld a 180° section of the pipe, with one set positioned on each side to simultaneously operate from both sides, saving construction time. Each set of robotic arms, mounted on either the first or second module, provides vertical motion, enabling the arms to achieve optimal welding at the top and bottom extremes.

[0073] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A welding robot based on modular processing operation, characterized in that: include: A first module, a second module, a third module, a first arc-shaped member, a second arc-shaped member, a first mechanical arm with a welding gun, a second mechanical arm with a welding gun, and a rotating oil cylinder, wherein the rotating oil cylinder is mounted on the top of the third module, the tops of the first arc-shaped member and the second arc-shaped member are both slidably mounted on the bottom of the third module, the first module is vertically mounted on the first arc-shaped member, the second module is vertically mounted on the second arc-shaped member, and the first mechanical arm and the second mechanical arm are slidably mounted on the first module and the second module in a one-to-one correspondence; The first module is vertically mounted on the middle of one side of the first arc-shaped member away from the second arc-shaped member, and the second module is vertically mounted on the middle of one side of the second arc-shaped member away from the first arc-shaped member; The first mechanical arm is slidably mounted on a side of the first module away from the first arc-shaped member, and the second mechanical arm is slidably mounted on a side of the second module away from the second arc-shaped member; The first module and the second module have the same structure, and the first module comprises: a first moving platform and a first guide rail, the first guide rail is vertically mounted on the middle of a side of the first arc-shaped member away from the second arc-shaped member, the first moving platform is slidably mounted on a side of the first guide rail away from the first arc-shaped member, and the first mechanical arm is mounted on the first moving platform; A third arc-shaped member is installed at the middle position of the bottom of the third module, and the first arc-shaped member and the second arc-shaped member are located on both sides of the third arc-shaped member in a one-to-one correspondence; The third module comprises: a fixed block, a pair of second moving platforms and a second guide rail, wherein the fixed block is fixedly mounted at the middle position of the bottom of the second guide rail, the third arc-shaped member is mounted on the fixed block, the tops of a pair of second moving platforms are slidably mounted at the bottom of the second guide rail, a pair of second moving platforms are located on both sides of the third arc-shaped member in a one-to-one correspondence, and the tops of the first arc-shaped member and the second arc-shaped member are connected to the pair of second moving platforms in a one-to-one correspondence; The first robotic arm and the second robotic arm have the same structure, and the first robotic arm is a two-degree-of-freedom robotic arm capable of axial adjustment and radial adjustment along the pipeline.

2. A welding robot based on modular processing according to claim 1, characterized in that: The rotating oil cylinder is connected with a mounting platform.

3. A welding robot based on modular processing operation according to claim 1, characterized in that: A first driving motor is provided at one end of the first guide rail, and the first driving motor is connected to the first moving platform via a screw rod.

4. A welding robot based on modular processing operation according to claim 1, characterized in that: A second driving motor is installed at one end of the second guide rail, and the second driving motor is connected to a pair of the second moving platforms through a screw rod.

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