In-pipe welding device and using method thereof

Abstract

The invention relates to the technical field of in-pipe welding, in particular to an in-pipe welding device and a using method thereof.The in-pipe welding device comprises a support, a pipe expanding assembly installed at the output end of the support, a sliding assembly installed above the support, a screwing assembly and a welding assembly, and the screwing assembly and the welding assembly are installed on the sliding assembly in a sliding mode; the screwing assembly comprises a first fixing disc and a first ring body rotationally arranged in the first fixing disc, a first gear ring is coaxially arranged outside the first ring body, a first output motor is installed on the back of the first fixing disc, the output end of the first output motor is connected with a first gear, and the first gear is meshed with the first gear ring. The first ring body is coaxially connected with a first connecting rod, and the other end of the first connecting rod is coaxially connected with a screwing head. Through the arrangement of the screwing assembly, a pipe cap can be screwed off before welding, and follow-up welding is facilitated; and meanwhile, the welding assembly is arranged, welding seam alignment, centering and welding are integrated, and the welding precision is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of in-pipe welding, in particular to an in-pipe welding device and a method for using the in-pipe welding device. Background Art

[0002] The divertor module is an important internal component of the nuclear fusion device. It works in a vacuum chamber with nuclear radiation and high temperature. It is easy to be damaged during the operation of the nuclear fusion device and needs to be removed from the vacuum chamber for maintenance. The divertor module and its components are connected to cooling water pipes. During maintenance, the cooling water pipes connected to them need to be cut off so that the module components can be removed. Pipeline internal welding tools are needed to complete these tasks, that is, after opening the pipe cap, use the pipe internal welding tools to enter the pipe and weld the pipe. Summary of the invention

[0003] The present invention aims at the functional requirement that in the prior art, a pipe internal welding tool is needed to open the pipe cap of a water pipe and then use the pipe internal welding tool to enter the pipe to weld the pipe, and provides an in-pipe welding device and a method of using the same. The specific technical scheme is as follows:

[0004] On the one hand, the present application provides an in-pipe welding device, comprising a bracket, a tube expansion assembly installed at an output end of the bracket, a sliding assembly installed above the bracket, and a screwing assembly and a welding assembly slidably installed on the sliding assembly;

[0005] The screwing assembly comprises a fixed disk and a ring body rotatably arranged in the fixed disk, a gear ring is coaxially arranged outside the ring body, an output motor is installed on the back of the fixed disk, an output end of the output motor is connected to a gear, and the gear meshes with the gear ring, a connecting rod is coaxially connected to the ring body, and the other end of the connecting rod is coaxially connected to a screwing head;

[0006] The welding assembly includes a rotating part, which includes a fixed disk 2, a ring body 2 rotatably arranged on the fixed disk 2, and a gear ring 2 coaxially connected to the outside of the ring body 2. The back of the fixed disk 2 is connected to an output motor 2, the output end of the output motor 2 is connected to a gear 2, the gear 2 meshes with the gear ring 2, and the ring body 2 is eccentrically connected to a connecting rod 2, and a welding head is installed on the other end of the connecting rod 2.

[0007] As a further technical solution of the present invention, an extension frame is radially extended from the connecting rod 1, and an endoscope 1 is installed on the extension frame.

[0008] As a further technical solution of the present invention, the welding assembly also includes a centering part, which includes a sleeve connected to the back of the second fixed plate, the other end of the sleeve is connected to an electric push rod 2, the output end of the second electric push rod is connected to the second push rod, the second ring body is coaxially connected with a sleeve, the other end of the second push rod is connected to a swelling head, the second push rod sequentially penetrates the second ring body and the sleeve and is inserted into the swelling head, the swelling head is provided with two radially slidable clamp heads, the two clamp heads are provided with three groups and are evenly arranged around the axis, the insertion end of the swelling head is connected to two cone heads, the inner side of the two clamp heads has an inclined surface, the inclined surface of the two clamp heads contacts the cone surface of the two cone heads, and the two cone heads are driven by the two electric push rods to move axially and drive the two clamp heads to bulge radially outward.

[0009] As a further technical solution of the present invention, a second slideway is provided on the sleeve, a second slide rod radially extends from the second push rod, and the second slide rod is slidably connected in the second slideway.

[0010] As a further technical solution of the present invention, the welding assembly also includes an observation part, which includes two ring pieces distributed on both sides of the ring body 2, a guide column passing through the ring body 2 is connected between the two ring pieces, a connecting rod 3 is connected to the ring piece at the output end, and an endoscope 2 is installed on the other end of the connecting rod 3, a fixing frame is connected to the back of the fixed plate 2, a screw is axially laid on the fixing frame, a slider is rotatably connected to the screw, and two groups of roller groups are arranged at intervals on the end surface of the slider facing the ring piece, the roller group includes two rollers rotatably mounted on the slider, and the two rollers are arranged at intervals and fit on both sides of the ring piece.

[0011] As a further technical solution of the present invention, the tube expansion assembly includes an electric push rod, a sleeve, a push rod and an inner cylinder. Along the axial direction, the push rod and the inner cylinder are connected to the output end of the electric push rod in sequence. The open end of the sleeve is covered with a push rod and an inner cylinder and connected to the electric push rod. The sleeve has a radially slidable clamp head. The head of the inner cylinder has a cone head. The inclined surface of the clamp head is attached to the outer wall of the cone head. The cone head is driven by the electric push rod to move axially and drive the clamp head to bulge radially outward.

[0012] As a further technical solution of the present invention, a slideway 1 is provided on the sleeve along an axial track, and a radially extending slide rod 1 is provided on the inner tube, and the slide rod 1 is slidably arranged in the slideway 1.

[0013] As a further technical solution of the present invention, an observation camera and a laser rangefinder are installed on the output end of the bracket.

[0014] As a further technical solution of the present invention, the sliding assembly includes a slide rail one laid along the X-axis direction, and the slide rail one is slidably connected to a slide rail two laid along the Z-axis direction. The two sides of the slide rail two are respectively slidably connected to a slide rail three and a slide rail four laid along the Y-axis direction. The welding assembly is slidably installed on the slide rail three, and the screwing assembly is slidably installed on the slide rail four.

[0015] On the other hand, the present application also provides a method for using the in-pipe welding device, the specific steps are as follows:

[0016] S1, fixed;

[0017] Connect the bayonet on the workpiece base with the expansion tube assembly, start the electric push rod 1, drive the push rod 1 and the inner tube to move toward the clamp head 1, so that the cone head 1 presses the clamp head 1 to cause radial displacement and bulge outward, and the clamp head 1 abuts against the inner wall of the bayonet, and the workpiece base and the bracket are relatively fixed;

[0018] S2, screw the tube cap;

[0019] The sliding assembly drives the screwing assembly to align the pipe opening and insert the screwing head into the pipe, and the output motor 1 is started to drive the gear 1 to rotate, thereby driving the gear ring 1, the ring body 1, the connecting rod 1 and the screwing head to rotate and screw the pipe cap out;

[0020] S3, alignment;

[0021] Drive the welding assembly to align the pipe mouth through the sliding assembly and insert the expansion head and the welding head into the pipe, drive the screw to rotate, drive the slider and the slider to insert the pipe for observation, and adjust the insertion depth of the welding head with the sliding assembly to align the welding head with the weld;

[0022] S4, centering;

[0023] Start the second electric push rod to drive the second push rod and the second cone head to move axially, and use the second cone head to push the second clamp head to bulge radially outward and contact the inner wall of the pipe to achieve centering;

[0024] S5, welding;

[0025] The driving screw rod rotates in the reverse direction to retract the welding head, and then the output motor 2 is started to drive the welding head to rotate around the sleeve and weld the inner pipe seam.

[0026] The beneficial effects of the present invention are as follows:

[0027] (1) By setting the screwing assembly, the pipe cap can be unscrewed before welding, which is beneficial for subsequent welding; at the same time, the setting of the welding assembly integrates weld alignment, centering and welding, greatly improving the welding accuracy.

[0028] (2) By setting the sliding component, the screwing component and the welding component can slide in the X-axis direction, the Y-axis direction and the Z-axis direction, thereby realizing the adjustment of the screwing component and the welding component to any position in space.

[0029] (3) By setting up the expansion tube assembly, the bracket and the workpiece base can be relatively fixed before welding, thereby ensuring the stability of the entire welding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The overall structural schematic diagram of the in-pipe welding device is shown;

[0031] Figure 2 A schematic diagram of the combined structure of the bracket and the expansion tube assembly is shown;

[0032] Figure 3 A schematic structural diagram of a tube expansion assembly is shown;

[0033] Figure 4 A schematic diagram of the internal structure of the expansion tube assembly is shown;

[0034] Figure 5 A schematic structural diagram of a sliding assembly is shown;

[0035] Figure 6 A schematic structural diagram of a screwing assembly is shown;

[0036] Figure 7 A schematic diagram of the internal structure of the screwing assembly is shown;

[0037] Figure 8 A schematic diagram of the structure of a welding assembly is shown;

[0038] Fig. 9 A schematic structural diagram of a rotating part is shown;

[0039] Fig.10 A schematic diagram of the structure of the centering portion is shown;

[0040] Fig.11 The structural schematic diagram of the rising head is shown;

[0041] Fig.12 A schematic diagram of the structure of the centering part and the rotating part is shown;

[0042] Fig.13 A schematic diagram of the structure of the observation part, the centering part and the rotating part is shown;

[0043] Fig.14 A schematic structural diagram of the observation unit is shown.

[0044] Description of the drawings: 100, bracket; 200, expansion tube assembly; 210, electric push rod 1; 220, sleeve; 221, slideway 1; 222, clamp head 1; 230, push rod 1; 240, inner tube; 241, slide rod 1; 242, cone head 1; 250, observation camera; 260, laser rangefinder; 300, sliding assembly; 310, slide rail 1; 320, slide rail 2; 330, slide rail 3; 340, slide rail 4; 400, screw assembly; 410, fixed plate 1; 420, ring body 1; 430, gear ring 1; 440, output motor 1; 450, gear 1; 460, connecting rod 1; 470, screw head; 480, extension frame; 490, endoscope Endoscope one; 500, welding assembly; 510, rotating part; 511, fixed disk two; 512, ring body two; 513, gear ring two; 514, output motor two; 515, gear two; 516, connecting rod two; 517, welding head; 520, centering part; 521, sleeve; 522, electric push rod two; 523, push rod two; 524, sleeve; 525, expansion head; 526, clamp head two; 527, cone head two; 528, slideway two; 529, slide rod two; 530, observation part; 531, ring piece; 532, guide column; 533, connecting rod three; 534, endoscope two; 535, fixing frame; 536, screw; 537, slider; 538, roller group. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the embodiments of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0046] Figure 1 The overall structural schematic diagram of the in-pipe welding device is shown; Figure 1 In the figure, the in-pipe welding device includes a bracket 100, a tube expansion assembly 200 installed at the output end of the bracket 100, a sliding assembly 300 installed above the bracket 100, and a screwing assembly 400 and a welding assembly 500 slidably installed on the sliding assembly 300; the tube expansion assembly 200 is connected to the base of the workpiece to be welded, so that the bracket 100 and the workpiece base are relatively locked to ensure the stability of the workpiece during the welding process; the sliding assembly 300 can realize the movement of the screwing assembly 400 and the welding assembly 500 in three directions of X-axis, Y-axis and Z-axis, and realize all-round sliding to adapt to the position of the pipeline, and the screwing assembly 400 can unscrew the pipe cap in the pipeline before welding, and the welding assembly 500 can realize the subsequent internal seam welding of the pipeline.

[0047] Figure 2 A schematic diagram of the combined structure of the bracket 100 and the expansion tube assembly 200 is shown; Figure 3 A schematic structural diagram of the tube expansion assembly 200 is shown; Figure 4A schematic diagram of the internal structure of the expansion tube assembly 200 is shown;

[0048] Figure 2-Figure 4 In the embodiment, the tube expansion assembly 200 includes an electric push rod 210, a sleeve 220, a push rod 230 and an inner cylinder 240. In the axial direction, the push rod 230 and the inner cylinder 240 are sequentially connected to the output end of the electric push rod 210. The open end of the sleeve 220 is covered with the push rod 230 and the inner cylinder 240 and connected to the electric push rod 210. The sleeve 220 has a radially slidable clamp head 222. The head of the inner cylinder 240 is The invention has a cone head 242, the inclined surface of the pliers head 222 is fitted on the outer wall of the cone head 242, and the cone head 242 is driven by the electric push rod 210 to move axially and drive the pliers head 222 to bulge radially outward; in actual use, the sleeve 220 is inserted into the corresponding bayonet opening on the workpiece base as a whole, and the electric push rod 210 is started to drive the push rod 230 and the inner cylinder 240 to move outward, so that the cone head 242 is used to To drive the clamp head 222 to move radially and protrude outward to resist the bayonet, achieve relative locking, and ensure the stability of the entire welding process; a slideway 221 is provided on the sleeve 220 along the axial trajectory, and a radially extending slide rod 241 is provided on the inner cylinder 240, and the slide rod 241 is slidably arranged in the slideway 221; by sliding the slide rod 241 in the slideway 221, the movement trajectory of the inner cylinder 240 can be limited so that it moves according to the predetermined axial trajectory; an observation camera 250 and a laser rangefinder 260 are installed on the output end of the bracket 100; wherein, the observation camera 250 is used to observe the position of the external bayonet, and when the robotic arm carrying the welding actuator is in place, the bayonet position is remotely observed, and the robotic arm is manually operated to insert the external expansion tube positioning module into the bayonet; the laser rangefinder 260 measures the length of the equipment from the target plate and guides the robotic arm to adjust the overall horizontality of the equipment.

[0049] Figure 5 A schematic structural diagram of the sliding assembly 300 is shown; Figure 5In the embodiment, the sliding assembly 300 includes a slide rail 1 310 laid along the X-axis direction, and the slide rail 1 310 is slidably connected with a slide rail 2 320 laid along the Z-axis direction, and the two sides of the slide rail 2 320 are respectively slidably connected with a slide rail 3 330 and a slide rail 4 340 laid along the Y-axis direction, the welding assembly 500 is slidably installed on the slide rail 3 330, and the screwing assembly 400 is slidably installed on the slide rail 4 340; wherein, the slide rail 3 330 and the slide rail 4 340 correspond to the screwing assembly 400 and the welding assembly 500 respectively, which can make the screwing assembly 400 and the welding assembly 500 slide on the Y-axis, and the slide rail 2 320 can realize the screwing assembly 400 and the welding assembly 500 sliding in the Z-axis direction, and the slide rail 1 310 can realize the screwing assembly 400 and the welding assembly 500 sliding in the X-axis direction, and the combination of the three can arbitrarily adjust the position of the screwing assembly 400 and the welding assembly 500 in space.

[0050] Figure 6 A schematic structural diagram of a screwing assembly 400 is shown; Figure 7 A schematic diagram of the internal structure of the screwing assembly 400 is shown; Figure 6 and Figure 7 In the embodiment, the screwing assembly 400 includes a fixed disk 410 and a ring body 420 rotatably arranged in the fixed disk 410, a gear ring 430 is coaxially arranged outside the ring body 420, an output motor 440 is installed on the back of the fixed disk 410, a gear 450 is connected to the output end of the output motor 440, and the gear 450 meshes with the gear ring 430, a connecting rod 460 is coaxially connected to the ring body 420, and a screw head 470 is coaxially connected to the other end of the connecting rod 460; starting the output motor 440 can The driving gear 450 rotates, thereby driving the gear ring 430 and the ring body 420 to rotate, and the ring body 420 is used to drive the connecting rod 460 and the screw head 470 to rotate, and the rotation of the screw head 470 is used to screw the pipe cap and unscrew the pipe cap to achieve disassembly of the pipe cap; an extension frame 480 radially extends from the connecting rod 460, and an endoscope 490 is installed on the extension frame 480; the endoscope 490 can rotate around the connecting rod 460 when the output motor 440 is started, and at the same time observe the position of the pipe cap to facilitate the docking of the screw head 470 and the pipe cap.

[0051] Figure 8 A schematic structural diagram of a welding assembly 500 is shown; Fig. 9 shows a schematic structural diagram of the rotating portion 510; Fig.10 shows a schematic structural diagram of the centering portion 520; Fig.11 A schematic diagram of the structure of the expansion head 525 is shown; Fig.12 A schematic structural diagram of the centering portion 520 and the rotating portion 510 is shown; Fig.13A schematic diagram of the structure of the observation part 530, the centering part 520 and the rotating part 510 is shown; Fig.14 shows a schematic structural diagram of the observation unit 530; Figure 8-Figure 14In the embodiment, the welding assembly 500 includes a rotating part 510, a centering part 520 and an observation part 530; wherein the rotating part 510 is used to drive the welding head 517 to rotate to achieve ring welding, the centering part 520 is used for centering and supporting the tube body to ensure the stability of the welding process, and the observation part 530 is used to drive the endoscope 534 to make an axial displacement to ensure that the endoscope 534 can be away from the high temperature zone in the welding state; the rotating part 510 includes a fixed disk 511, a ring body 512 rotatably arranged on the fixed disk 511, and a gear ring 513 coaxially connected to the outside of the ring body 512, and the back of the fixed disk 511 is connected to an output motor 51 4. The output end of the output motor 514 is connected to a gear 515, and the gear 515 meshes with the gear ring 513. The ring body 512 is eccentrically connected to a connecting rod 516, and the other end of the connecting rod 516 is installed with a welding head 517; starting the output motor 514 can drive the gear 515 to rotate. Since the gear 515 meshes with the gear ring 513, the gear ring 513, the ring body 512, the connecting rod 516 and the welding head 517 can be driven to rotate, thereby realizing ring welding; the centering part 520 includes a sleeve 521 connected to the back of the fixed plate 511, and the other end of the sleeve 521 is connected to an electric push rod 517. 522, the output end of the electric push rod 522 is connected to the push rod 523, the ring body 512 is coaxially connected with a sleeve 524, the other end of the push rod 523 is connected to a head 525, the push rod 523 sequentially penetrates the ring body 512 and the sleeve 524 and is inserted into the head 525, the head 525 has a radially slidable clamp head 526, the clamp head 526 is provided with three groups and is evenly arranged around the axis, the insertion end of the head 525 is connected to a cone head 527, the inner side of the clamp head 526 has an inclined surface, the inclined surface of the clamp head 526 abuts against the cone surface of the cone head 527, the cone head 52 7 is driven by the electric push rod 522 to move axially and drive the clamp head 526 to bulge radially outward; when the centering part 520 is started, it can drive the push rod 523 and the cone head 527 to move axially, use the cone surface of the cone head 527 to abut the inclined surface of the clamp head 526 and drive the clamp head 526 to move radially, and use the clamp head 526 to abut the inner pipe wall to achieve centering support; the sleeve 521 is provided with a slideway 528, and the push rod 523 is radially extended with a slide rod 529, and the slide rod 529 is slidably connected in the slideway 528; the slide rod 529 moves in the slideway 528 to ensure the stability of the axial movement of the push rod 523;The observation part 530 includes two ring pieces 531 distributed on both sides of the second ring body 512, a guide column 532 penetrating the second ring body 512 is connected between the two ring pieces 531, a connecting rod 3 533 is connected to the ring piece 531 at the output end, and an endoscope 2 534 is installed on the other end of the connecting rod 3 533, a fixing frame 535 is connected to the back of the second fixed plate 511, a screw rod 536 is axially laid on the fixing frame 535, a slider 537 is rotatably connected to the screw rod 536, and two groups of roller groups 538 are arranged at intervals on the end surface of the slider 537 facing the ring piece 531, and the roller group 538 includes Two rollers are rotatably mounted on the slider 537, and the two rollers are arranged at intervals and fit on both sides of the ring piece 531; the screw rod 536 is driven to rotate. Since the screw rod 536 and the slider 537 are threadedly connected, the slider 537 can be driven to move axially, thereby driving the ring piece 531, the connecting rod 3 533 and the endoscope 2 534 to move synchronously to achieve axial displacement, and since the roller group 538 and the ring piece 531 are in rolling contact, the roller will not interfere with the rotation of the ring piece 531; the above-mentioned output ends are all facing the end of the workpiece to be welded, and the back is the side away from the workpiece to be welded, which should be understood by those skilled in the art. ;

[0052] The specific steps of using the in-pipe welding device are as follows:

[0053] S1, fixed;

[0054] The bayonet on the workpiece base is connected with the expansion tube assembly 200, and the electric push rod 210 is started to drive the push rod 230 and the inner cylinder 240 to move toward the clamp head 222, so that the cone head 242 presses the clamp head 222 to cause radial displacement and bulge outward, and the clamp head 222 contacts the inner wall of the bayonet, and the workpiece base and the bracket 100 are relatively fixed;

[0055] S2, screw the tube cap;

[0056] The sliding assembly 300 drives the screwing assembly 400 to align the pipe opening and insert the screwing head 470 into the pipe, and the output motor 1 440 is started to drive the gear 1 450 to rotate, thereby driving the gear ring 1 430, the ring body 1 420, the connecting rod 1 460 and the screwing head 470 to rotate and screw the pipe cap out;

[0057] S3, alignment;

[0058] The sliding assembly 300 drives the welding assembly 500 to align the pipe mouth and insert the expansion head 525 and the welding head 517 into the pipe, drives the screw rod 536 to rotate, drives the slider 537 and the slider 537 to insert the pipe for observation, and at the same time cooperates with the sliding assembly 300 to adjust the insertion depth of the welding head 517 so that the welding head 517 is aligned with the weld;

[0059] S4, centering;

[0060] The electric push rod 522 is started to drive the push rod 523 and the cone head 527 to move axially, and the cone head 527 is used to push the clamp head 526 to radially protrude outward and contact the inner wall of the pipe to achieve centering;

[0061] S5, welding;

[0062] The driving screw 536 rotates in the reverse direction to retract the welding head 517, and then the output motor 2 514 is started to drive the welding head 517 to rotate around the sleeve 524 and weld the inner pipe seam.

[0063] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them.

Claims

1. In-pipe welding device, characterized in that: It comprises a bracket (100), a tube expansion assembly (200) installed at the output end of the bracket (100), a sliding assembly (300) installed above the bracket (100), and a screwing assembly (400) and a welding assembly (500) slidably installed on the sliding assembly (300); The screwing assembly (400) comprises a fixed disk (410) and a ring body (420) rotatably arranged inside the fixed disk (410); a gear ring (430) is coaxially arranged outside the ring body (420); an output motor (440) is installed on the back of the fixed disk (410); a gear (450) is connected to the output end of the output motor (440), and the gear (450) meshes with the gear ring (430); a connecting rod (460) is coaxially connected to the ring body (420); and a screwing head (470) is coaxially connected to the other end of the connecting rod (460); The welding assembly (500) comprises a rotating part (510), wherein the rotating part (510) comprises a second fixed disk (511), a second ring body (512) rotatably arranged on the second fixed disk (511), and a second gear ring (513) coaxially connected to the outside of the second ring body (512); the back of the second fixed disk (511) is connected to a second output motor (514); the output end of the second output motor (514) is connected to a second gear (515); the second gear (515) meshes with the second gear ring (513); the second ring body (512) is eccentrically connected to a second connecting rod (516); the other end of the second connecting rod (516) is provided with a welding head (517).

2. The in-pipe welding device according to claim 1, characterized in that: An extension frame (480) radially extends from the connecting rod 1 (460), and an endoscope 1 (490) is installed on the extension frame (480).

3. The in-pipe welding device according to claim 2, characterized in that: The welding assembly (500) further comprises a centering portion (520), wherein the centering portion (520) comprises a sleeve (521) connected to the back of the second fixing plate (511), the other end of the sleeve (521) is connected to the second electric push rod (522), the output end of the second electric push rod (522) is connected to the second push rod (523), the second ring body (512) is coaxially connected to a sleeve (524), the other end of the second push rod (523) is connected to a swelling head (525), and the second push rod (523) passes through the second ring body (512), the sleeve ( 524) is inserted into the expanding head (525), and the expanding head (525) has a radially slidable clamp head 2 (526), ​​and the clamp head 2 (526) is provided with three groups and evenly arranged around the axis. The insertion end of the expanding head (525) is connected with a cone head 2 (527), and the inner side of the clamp head 2 (526) has an inclined surface, and the inclined surface of the clamp head 2 (526) contacts the cone surface of the cone head 2 (527). The cone head 2 (527) is driven by the electric push rod 2 (522) to move axially and drive the clamp head 2 (526) to bulge radially outward.

4. The in-pipe welding device according to claim 3, characterized in that: The sleeve (521) is provided with a second slideway (528), and the second push rod (523) is radially extended with a second slide rod (529), and the second slide rod (529) is slidably connected in the second slideway (528).

5. The in-pipe welding device according to claim 4, characterized in that: The welding assembly (500) further comprises an observation portion (530), wherein the observation portion (530) comprises two ring pieces (531) distributed on both sides of the second ring body (512), a guide column (532) penetrating the second ring body (512) is connected between the two ring pieces (531), a connecting rod (533) is connected to the ring piece (531) at the output end, and an endoscope (534) is installed at the other end of the connecting rod (533), and the fixing plate (512) is connected to the second ring body (512). 11) A fixing frame (535) is connected to the back, a screw rod (536) is axially arranged on the fixing frame (535), a slider (537) is rotatably connected to the screw rod (536), two groups of roller groups (538) are arranged at intervals on the end surface of the slider (537) facing the ring piece (531), and the roller group (538) includes two rollers rotatably mounted on the slider (537), and the two rollers are arranged at intervals and fit on both sides of the ring piece (531).

6. The in-pipe welding device according to claim 1, characterized in that: The tube expansion assembly (200) comprises an electric push rod (210), a sleeve (220), a push rod (230) and an inner cylinder (240). Axially, the push rod (230) and the inner cylinder (240) are sequentially connected to the output end of the electric push rod (210). The open end of the sleeve (220) is covered with the push rod (230) and the inner cylinder (240) and is connected to the electric push rod (210). The sleeve (220) has a radially slidable clamp head (222). The head of the inner cylinder (240) has a cone head (242). The inclined surface of the clamp head (222) is attached to the outer wall of the cone head (242). The cone head (242) is driven by the electric push rod (210) to move axially and drive the clamp head (222) to bulge radially outward.

7. The in-pipe welding device according to claim 6, characterized in that: A slideway (221) is provided on the sleeve (220) along an axial track, and a radially extending slide rod (241) is provided on the inner tube (240). The slide rod (241) is slidably arranged in the slideway (221).

8. The in-pipe welding device according to claim 1, characterized in that: An observation camera (250) and a laser rangefinder (260) are installed on the output end of the bracket (100).

9. The in-pipe welding device according to claim 1, characterized in that: The sliding assembly (300) includes a slide rail 1 (310) laid along the X-axis direction, and the slide rail 1 (310) is slidably connected to a slide rail 2 (320) laid along the Z-axis direction. The two sides of the slide rail 2 (320) are respectively slidably connected to a slide rail 3 (330) and a slide rail 4 (340) laid along the Y-axis direction. The welding assembly (500) is slidably installed on the slide rail 3 (330), and the screwing assembly (400) is slidably installed on the slide rail 4 (340).

10. The method for using the in-pipe welding device according to any one of claims 1 to 9, characterized in that: The specific steps are as follows: S1, fixed; The bayonet on the workpiece base is connected to the expansion tube assembly (200), and the electric push rod (210) is started to drive the push rod (230) and the inner tube (240) to move toward the clamp head (222), so that the cone head (242) presses the clamp head (222) to cause radial displacement and outward bulge, and the clamp head (222) contacts the inner wall of the bayonet, and the workpiece base and the bracket (100) are relatively fixed; S2, screw the tube cap; The sliding assembly (300) drives the screwing assembly (400) to align the pipe opening and insert the screwing head (470) into the pipe, and the output motor (440) is started to drive the gear (450) to rotate, thereby driving the gear ring (430), the ring body (420), the connecting rod (460) and the screwing head (470) to rotate and screw the pipe cap out; S3, alignment; The sliding assembly (300) drives the welding assembly (500) to align the pipe mouth and inserts the expansion head (525) and the welding head (517) into the pipe, drives the screw rod (536) to rotate, drives the slider (537) and the slider (537) to insert into the pipe for observation, and at the same time cooperates with the sliding assembly (300) to adjust the insertion depth of the welding head (517) so that the welding head (517) is aligned with the weld; S4, centering; The second electric push rod (522) is started to drive the second push rod (523) and the second cone head (527) to move axially, and the second cone head (527) is used to push the second clamp head (526) to protrude radially outward and contact the inner wall of the pipeline to achieve centering; S5, welding; The driving screw rod (536) rotates in the reverse direction to retract the welding head (517), and then the output motor 2 (514) is started to drive the welding head (517) to rotate around the sleeve (524) and weld the inner pipe seam.

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