Welding wire transmission device and steel pipe welding system

Abstract

The present invention relates to the technical field of welding wire transmission, and specifically discloses a welding wire transmission device and a steel pipe welding system. The welding wire transmission device includes a first welding wire storage unit, a second welding wire storage unit, a first transmission unit and a second transmission unit. A "human" shaped reversing tube is arranged between the first welding wire storage unit and the second welding wire storage unit. The reversing tube includes a first bend tube, a second bend tube and a straight tube. The first transmission unit is used to transmit the welding wire at the first welding wire storage unit to the first bend tube and extend it into the straight tube. The second transmission unit is used to transmit the welding wire at the second welding wire storage unit to the second bend tube, so that the welding wire in the second bend tube abuts against the welding wire in the first bend tube. When the welding wire at the first welding wire storage unit is exhausted, the welding wire therein is transmitted to the straight tube, the welding wire in the first bend tube no longer blocks the movement of the welding wire in the second bend tube, and the welding wire at the second welding wire storage unit is automatically replaced, thereby ensuring that the welding robot can continue welding.

Description

Technical Field

[0001] The invention relates to the technical field of welding wire transmission, and in particular to a welding wire transmission device and a steel pipe welding system. Background Art

[0002] With the advancement of technology, the welding of large steel pipes is basically completed by robots. While welding, the robot supplies wire to the welding gun through the welding wire wound into a coil. However, the number of welding wires wound on the wire coil is limited. When the welding wire on the wire coil is about to run out, the wire coil cannot be replaced dynamically. The robot can only be wired after the welding wire is exhausted. The robot welding is interrupted when the welding wire is replaced, and the robot cannot continue to work. Or a technical solution of setting two wire coils to supply wire is disclosed in a welding wire feeding device with publication number CN109702285B, but the application requires welding of the welding wire, which can reduce the time for replacing the welding wire. However, the transmission of the welding wire needs to be stopped during the welding process, that is, the welding robot needs to shut down and wait for the welding to be completed before it can continue to supply wire.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The invention discloses a welding wire transmission device and a steel pipe welding system, which are used to solve the problem of difficulty in continuous welding operation of a welding robot.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A welding wire transmission device, comprising:

[0007] A first welding wire storage unit and a second welding wire storage unit are arranged at intervals;

[0008] A first transmission unit provided at one side of the first welding wire storage unit and a second transmission unit provided at one side of the second welding wire storage unit;

[0009] A herringbone-shaped reversing tube is provided between the first transmission unit and the second transmission unit, the inner diameter of the reversing tube is adapted to the outer diameter of the welding wire, the reversing tube comprises a first elbow, a second elbow and a straight tube, the first transmission unit is used to transmit the welding wire on the first welding wire storage unit through the first elbow and the straight tube, the second transmission unit is used to transmit the welding wire in the second welding wire storage unit to the second elbow, the first elbow and the second elbow are both arc tubes, and the angle of the arc tube is less than or equal to 90 degrees; and

[0010] The third transmission unit is arranged downstream of the straight pipe and is used for transmitting the welding wire passing through the straight pipe to the robot.

[0011] Preferably, the cross-sections at the inlets of the first curved pipe and the second curved pipe are vertical, and the outlets of the first curved pipe and the second curved pipe are both connected to the straight pipe.

[0012] Preferably, the inlet of the first elbow is flush with the output end of the first transmission unit; and the inlet of the second elbow is flush with the output end of the second transmission unit.

[0013] Preferably, the first welding wire storage unit and the second welding wire storage unit have the same structure, the first welding wire storage unit comprises a first reel and a first turntable, and the first reel is mounted on the first turntable.

[0014] Preferably, the first welding wire storage unit also includes a first compression spring, a first pressure block and a first travel switch, a first mounting hole is provided at the lower portion of the first reel, the first compression spring and the first pressure block are installed in the first mounting hole, the first compression spring abuts between the first pressure block and the first reel, the first travel switch is installed on the first turntable, a first through hole is provided on one side of the first reel, a second mounting hole is provided on the first pressure block, the welding wire extends through the first through hole and is inserted into the second mounting hole to lock the first compression spring, and the first compression spring is used to drive the first pressure block to trigger the first travel switch.

[0015] Preferably, the third transmission unit comprises a mounting plate and a first transmission structure and a second transmission structure mounted on the mounting plate, and a cleaning block is arranged between the first transmission structure and the second transmission structure.

[0016] Preferably, the first transmission structure includes a plurality of first rollers that are arranged opposite to each other, and the second transmission structure includes a plurality of second rollers that are arranged opposite to each other, and the first rollers are arranged perpendicularly to the second rollers.

[0017] The present invention also discloses a steel pipe welding system, which includes the welding wire transmission device, a welding robot and a pipe rotating device as described above, wherein the welding wire transmission device is used to transmit the welding wire to the welding robot, and the welding robot is used to weld the steel pipe placed on the pipe rotating device.

[0018] Preferably, the welding robot comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] The welding wire transmission device disclosed in the present invention comprises a first welding wire storage unit and a second welding wire storage unit which are symmetrically arranged, and a "human" shaped reversing tube is arranged between the first welding wire storage unit and the second welding wire storage unit, the reversing tube comprises a first bend tube, a second bend tube and a straight tube, a first transmission unit is arranged between the first bend tube and the first welding wire storage unit, and a second transmission unit is arranged between the second bend tube and the second welding wire storage unit, the first transmission unit is used to transmit the welding wire at the first welding wire storage unit to the first bend tube and pass through the first bend tube to extend into the straight tube, and the second transmission unit is used to transmit the welding wire at the second welding wire storage unit to the second bend tube, and make the welding wire in the second bend tube abut against the welding wire in the first bend tube. When the welding wire at the first welding wire storage unit is used up, the welding wire in the first bend tube is completely transmitted to the straight tube, and the welding wire in the first bend tube no longer blocks the movement of the welding wire in the second bend tube, that is, after the welding wire at the first welding wire storage unit is used up, the welding wire at the second welding wire storage unit is automatically replaced, thereby ensuring that the welding robot can weld uninterruptedly.

[0021] In addition, the present invention also discloses a steel pipe welding system, which includes the welding wire transmission device mentioned above and has all the advantages thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of a welding wire transmission device provided in one embodiment of the present invention;

[0023] Figure 2 for Figure 1 A magnified view of the structure of part A;

[0024] Figure 3 A schematic diagram of the structure of a reversing tube provided in one embodiment of the present invention;

[0025] Figure 4 A cross-sectional view of a reversing tube provided in one embodiment of the present invention;

[0026] Figure 5 A schematic structural diagram of a first welding wire storage unit provided in one embodiment of the present invention;

[0027] Figure 6 A cross-sectional view of a first welding wire storage unit provided by an embodiment of the present invention;

[0028] Figure 7 for Figure 1 A magnified view of the structure of part B;

[0029] Figure 8 A schematic structural diagram of a steel pipe welding system provided in one embodiment of the present invention;

[0030] Fig. 9A schematic structural diagram of a welding robot and a welding wire transmission device provided in one embodiment of the present invention.

[0031] Explanation of the main component symbols: 1- welding wire transmission device; 10- first welding wire storage unit; 11- first reel; 111- first mounting hole; 112- first through hole; 12- first turntable; 13- first compression spring; 14- first pressure block; 141- second mounting hole; 15- first travel switch; 20- second welding wire storage unit; 30- first transmission unit; 40- second transmission unit; 50- reversing tube; 51- first bend; 52- second bend; 53- straight tube; 60- third transmission unit; 61- first transmission structure; 611- first roller; 62- second transmission structure; 621- second roller; 63- cleaning block; 64- mounting plate; 2- welding robot; 21- first rotating shaft; 22- second rotating shaft; 23- third rotating shaft; 24- fourth rotating shaft; 25- fifth rotating shaft; 3- rotating tube device; G- steel pipe; H welding wire. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like are based on the directions or positional relationships shown in the drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0034] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in the present invention can be understood according to specific circumstances.

[0035] In addition, the terms "installed", "set", "provided with", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements, or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0037] The technical solution of the present invention will be further described below in conjunction with embodiments and drawings.

[0038] Example

[0039] When an existing welding robot is welding, if the welding wire on the wire reel is used up, the welding wire reel needs to be replaced and the welding wire needs to be drawn out from the wire reel and passed through the welding gun of the welding robot. During the replacement process, the welding robot needs to stop working.

[0040] Therefore, the present application discloses a welding wire transmission device, referring to Figure 1 The device includes a first welding wire storage unit 10 and a second welding wire storage unit 20 arranged at intervals. A first transmission unit 30 is arranged on one side of the first welding wire storage unit 10, and a second transmission unit 40 is arranged on one side of the second welding wire storage unit 20. A herringbone reversing tube 50 is arranged between the first transmission unit 30 and the second transmission unit 40. Figure 2-4 The inner diameter of the reversing tube 50 is adapted to the outer diameter of the welding wire, and the reversing tube 50 includes a first curved tube 51, a second curved tube 52 and a straight tube 53. The first transmission unit 30 is used to transmit the welding wire on the first welding wire storage unit 10 through the first curved tube 51 and the straight tube 53, and make the welding wire move toward the welding robot 2 after passing through the straight tube 53. The second transmission unit 40 is used to pass the welding wire on the second welding wire storage unit 20 into the second curved tube 52.

[0041] Reference Figure 4As shown, after the welding wire on the first welding wire storage unit 10 passes through the first bend pipe 51 and the straight pipe 53, the connecting part between the second bend pipe 52 and the straight pipe 53 is blocked, and at this time, the first welding wire storage unit 10 can normally supply wire to the welding robot 2. When the welding wire at the first welding wire storage unit 10 is used up, that is, after the welding wire at the first welding wire storage unit 10 completely enters the straight pipe 53 from the first bend pipe 51, the second bend pipe 52 and the straight pipe 53 are connected, and at this time, the second transmission unit 40 will drive the welding wire on the second welding wire storage unit 20 to enter the straight pipe 53 from the second bend pipe 52, and the two sections of welding wire are close to each other, thereby realizing uninterrupted wire supply to the welding robot 2, so that the welding robot 2 can operate uninterruptedly.

[0042] Preferably, in an embodiment of the present invention, the cross section of the inlet of the first elbow 51 is vertical, so that the welding wire output from the first transmission unit 30 can smoothly enter the first elbow 51 .

[0043] Likewise, the cross section of the inlet of the second curved pipe 52 is vertical, so that the welding wire output from the second transmission unit 40 can smoothly enter the second curved pipe 52 .

[0044] It should be noted that the inner diameter of the reversing tube 50 should be slightly larger than the outer diameter of the welding wire to ensure that the welding wire can pass normally while preventing two welding wires from entering the straight tube 53 at the same time.

[0045] Reference Figure 4 The outlets of the first elbow 51 and the second elbow 52 are both connected to the straight pipe 53, and the overlapping portion of the first elbow 51 and the second elbow 52 is not provided with a pipe wall, thereby ensuring that the welding wires of the first elbow 51 and the second elbow 52 can enter the straight pipe 53.

[0046] In one embodiment of the present invention, the first curved pipe 51 and the second curved pipe 52 are preferably arc pipes, which turn smoothly, so that the welding wire can be transmitted smoothly in the pipe.

[0047] Furthermore, in one embodiment of the present invention, the arc angle of the first elbow 51 and the second elbow 52 is less than or equal to 90°. Preferably, the arc angle of the first elbow 51 and the second elbow 52 is equal to 90°, at which time the entrances of the first elbow 51 and the second elbow 52 are tangent to the horizontal plane, thereby allowing the transmitted welding wire to enter the pipe more smoothly.

[0048] Of course, the first curved pipe 51 and the second curved pipe 52 may also be other pipes such as curved pipes, bent pipes, etc.

[0049] Preferably, in one embodiment of the present invention, in order to facilitate the transmission of welding wire, the first transmission unit 30 is disposed between the first welding wire storage unit 10 and the reversing tube 50 , and the second transmission unit 40 is disposed between the second welding wire storage unit 20 and the reversing tube 50 .

[0050] Preferably, in one embodiment of the present invention, the inlet of the first elbow 51 is flush with the output end of the first transmission unit 30 , thereby preventing the welding wire from bending when entering the first elbow 51 from the first transmission unit 30 .

[0051] Likewise, the inlet of the second elbow 52 is flush with the output end of the second transmission unit 40 , thereby preventing the welding wire from bending when it enters the second elbow 52 from the second transmission unit 40 .

[0052] In one embodiment of the present invention, referring to Figure 2 The third transmission unit 60 includes a mounting plate 64 and a first transmission structure 61 and a second transmission structure 62 mounted on the mounting plate 64, and a cleaning block 63 is arranged between the first transmission structure 61 and the second transmission structure 62. By arranging two sets of transmission structures to separately transmit the welding wire and arranging the cleaning block 63 between the two, the dust on the welding wire can be cleaned, and it is ensured that the welding wire will not be contaminated again after cleaning.

[0053] In one embodiment of the present invention, referring to Figure 2 The upper opening of the straight tube 53 should be close to the input port of the third transmission unit 60 so that the welding wire can be smoothly transmitted by the third transmission unit 60.

[0054] In one embodiment of the present invention, the first transmission structure 61 includes a plurality of first rollers 611 disposed opposite to each other, and a groove is provided on the first roller 611 to clamp the welding wire. Similarly, the second transmission structure 62 also includes a plurality of second rollers 621 disposed opposite to each other, and a groove is also provided on the second roller 621 to clamp the welding wire. The plurality of first rollers 611 can be driven by one or a corresponding number of driving members. The plurality of second rollers 621 can be driven by one or a corresponding number of driving members.

[0055] In one embodiment of the present invention, the arrangement directions of the first roller 611 and the second roller 621 are perpendicular, that is, if the first roller 611 is arranged vertically, the second roller 621 is arranged horizontally. When the arrangement directions of the first roller 611 and the second roller 621 are perpendicular, the welding wire is straightened by the first roller 611 and the second roller 621 respectively, and the welding wire can enter the welding robot 2 in a state of high straightness.

[0056] In one embodiment of the present invention, referring to Figure 7In order to allow the welding wire in the second bend pipe 52 to quickly enter the straight pipe 53 and closely adhere to the tail end of the front welding wire after the welding wire in the first bend pipe 51 is moved, the second transmission unit 40 also uses rollers for transmission. The rollers have a clamping effect on the welding wire. When the front of the welding wire is blocked and cannot move forward, the rollers idle. When the blockage disappears, the second transmission unit 40 can drive the welding wire to move forward.

[0057] It should be noted that the welding wire in the present application is used for welding steel pipes. The welding wire is a carbon steel flux-cored welding wire. The welding wire has a certain bending strength and diameter to prevent the welding wire in the second bend pipe 52 from being bent. Since the second transmission unit 40 transmits the welding wire through the friction force of the roller on the welding wire, and the friction force on the welding wire cannot break through the thrust when the welding wire in the second bend pipe 52 is supported by the welding wire in the first bend pipe 51, when the welding wire cannot be bent, the roller will idle. Figure 4 At this time, the welding wire in the first bend pipe 51 is hindered by the friction of the welding wire in the second bend pipe 52. Under the transmission of the first transmission unit 30 and the third transmission unit 60, the welding wire in the first bend pipe 51 can break through the friction and be transmitted normally.

[0058] In one embodiment of the present invention, since the first welding wire storage unit 10 and the second welding wire storage unit 20 need to alternately supply wire, the first transmission unit 30 and the second transmission unit 40 need to have the same function, so the first transmission unit 30 and the second transmission unit 40 have the same structure. In one embodiment of the present invention, in order to allow the welding wire transmitted by the first transmission unit 30 and the second transmission unit 40 to smoothly enter the first elbow 51 or the second elbow 52, ​​the first transmission unit 30, the second transmission unit 40 and the third transmission unit 60 also use two sets of rollers distributed vertically to straighten the welding wire.

[0059] In one embodiment of the present invention, the first transmission unit 30, the second transmission unit 40 and the third transmission unit 60 all use motors as power outputs, and the motors drive the rollers to rotate to achieve the transmission of the welding wire.

[0060] In one embodiment of the present invention, Figure 1 and Figure 5 The first welding wire storage unit 10 and the second welding wire storage unit 20 have the same structure, and the first welding wire storage unit 10 includes a first reel 11 and a first turntable 12, the first reel 11 is installed on the first turntable 12, and the first turntable 12 is used to drive the first reel 11 to rotate during the welding wire transmission process.

[0061] In the attached Figure 5 As shown, the welding wire on the first reel 11 is in a state of being almost exhausted.

[0062] Reference Figure 6In one embodiment of the present invention, the first welding wire storage unit 10 further includes a first compression spring 13, a first pressure block 14 and a first travel switch 15. A first mounting hole 111 is provided at the bottom of the first reel 11. The first mounting hole 111 is a blind hole with a bottom opening. The first pressure block 14 and the first compression spring 13 are both arranged in the first mounting hole 111, and the first compression spring 13 is arranged above the first compression block 14, that is, the first compression spring 13 abuts between the first compression block 14 and the first reel 11. A through hole is provided on the first rotating disk 12, and the first travel switch 15 is installed on the inner wall of the through hole on the first rotating disk 12.

[0063] Further, in one embodiment of the present invention, a first through hole 112 is provided at the bottom of one side of the first reel 11, and the first through hole 112 communicates with the outside and the first mounting hole 111. A second mounting hole 141 is provided on the first pressing block 14. When the end of the welding wire passes through the first through hole 112 and extends into the second mounting hole 141, the carbon steel welding wire with a certain bending strength and diameter is equivalent to a latch, the first pressing block 14 is fixed, and the first compression spring 13 is compressed and locked.

[0064] Furthermore, in one embodiment of the present invention, in order to prevent the welding wire acting as a pin from being deformed, the first pressure block 14 is a plastic pressure block, and the first compression spring 13 uses a compression spring with a smaller elastic coefficient, thereby making the force acting on the welding wire smaller, so that the welding wire can maintain its original state.

[0065] In one embodiment of the present invention, when the welding wire on the first welding wire storage unit 10 is exhausted, the welding wire in the second mounting hole 141 is drawn out, and the compressed first compression spring 13 drives the first pressure block 14 to move downward. The first pressure block 14 abuts against the push rod of the first travel switch 15 during the downward movement and triggers the first travel switch 15. The triggered first travel switch 15 feeds back a signal to the motor of the second transmission unit 40, and the motor at the second transmission unit 40 drives the roller to rotate. Since the welding wire in the first bend pipe 51 has not yet been completed, the roller of the second transmission unit 40 and the welding wire slip. When the welding wire in the first bend pipe 51 completely enters the straight pipe 53, the second transmission unit 40 transmits the welding wire of the second welding wire storage unit 20 to the straight pipe 53, and then the welding wire is transmitted to the position of the welding robot 2 by the third transmission unit 60.

[0066] In one embodiment of the present invention, on the basis of the same structure of the first welding wire storage unit 10 and the second welding wire storage unit 20, when the welding wire in the first welding wire storage unit 10 is exhausted, the first travel switch 15 is triggered, and at this time the second transmission unit 40 conveys the welding wire on the second welding wire storage unit 20 through the second bend pipe 52 into the straight pipe 53. After the second welding wire storage unit 20 supplies wire normally, the first welding wire storage unit 10 can be replaced, and the welding wire on the replaced first welding wire storage unit 10 is pulled out, so that the first welding wire storage unit 10 can transfer the head of the welding wire into the first bend pipe 51. Through the alternating supply of wire by the first welding wire storage unit 10 and the second welding wire storage unit 20, the welding robot 2 can continue the welding operation.

[0067] In one embodiment of the present invention, the first reel 11 is hollow to obtain a lower dead weight.

[0068] The present invention also discloses a steel pipe welding system, referring to Figure 8 and Fig. 9 The welding system includes the above-mentioned welding wire transmission device 1, a welding robot 2 and a pipe transfer device 3. The welding wire transmission device 1 is used to transmit the welding wire to the welding robot 2, and the welding robot 2 is used to weld the steel pipe placed on the pipe transfer device 3. Figure 8 The third transmission unit 60 is arranged at the base position of the welding robot 2 , and the welding wire extending from the third transmission unit 60 is fed into the welding gun of the welding robot 2 after passing through a guide (not shown in the figure).

[0069] Reference Fig. 9 The welding robot 2 includes a first rotating shaft 21, a second rotating shaft 22, a third rotating shaft 23, a fourth rotating shaft 24 and a fifth rotating shaft 25. By setting multiple rotating shafts, the robot can weld the steel pipe at multiple angles.

[0070] It is understandable that those skilled in the art can make equivalent substitutions or changes based on the technical solution and inventive concept of the present invention, and all these changes or substitutions should fall within the protection scope of the present invention.

Claims

1. A welding wire transmission device, characterized in that: include: A first welding wire storage unit and a second welding wire storage unit are arranged at intervals; A first transmission unit provided at one side of the first welding wire storage unit and a second transmission unit provided at one side of the second welding wire storage unit; A "human" shaped reversing tube is arranged between the first transmission unit and the second transmission unit, the inner diameter of the reversing tube is adapted to the outer diameter of the welding wire, the reversing tube comprises a first elbow, a second elbow and a straight tube, the first transmission unit is used to transmit the welding wire on the first welding wire storage unit through the first elbow and the straight tube, the second transmission unit is used to transmit the welding wire in the second welding wire storage unit to the second elbow, the first elbow and the second elbow are both arc tubes, and the angle of the arc tube is less than or equal to 90 degrees; as well as A third transmission unit, disposed downstream of the straight pipe, for transmitting the welding wire passing through the straight pipe to the robot; The first welding wire storage unit has the same structure as the second welding wire storage unit, the first welding wire storage unit includes a first reel and a first turntable, the first reel is installed on the first turntable; the first welding wire storage unit also includes a first compression spring, a first pressure block and a first travel switch, the lower part of the first reel is provided with a first mounting hole, the first compression spring and the first pressure block are installed in the first mounting hole, the first compression spring abuts between the first pressure block and the first reel, the first travel switch is installed on the first turntable, a first through hole is provided on one side of the first reel, and a second mounting hole is provided on the first pressure block, the welding wire extends through the first through hole and is inserted into the second mounting hole to lock the first compression spring, and the first compression spring is used to drive the first pressure block to trigger the first travel switch.

2. A welding wire transmission device according to claim 1, characterized in that: The cross sections at the inlets of the first curved pipe and the second curved pipe are vertical, and the outlets of the first curved pipe and the second curved pipe are both connected to the straight pipe.

3. A welding wire transmission device according to claim 1, characterized in that: The inlet of the first elbow is flush with the output end of the first transmission unit; the inlet of the second elbow is flush with the output end of the second transmission unit.

4. A welding wire transmission device according to claim 1, characterized in that: The third transmission unit includes a mounting plate and a first transmission structure and a second transmission structure mounted on the mounting plate, wherein a cleaning block is disposed between the first transmission structure and the second transmission structure.

5. A welding wire transmission device according to claim 4, characterized in that: The first transmission structure includes a plurality of first rollers arranged opposite to each other, and the second transmission structure includes a plurality of second rollers arranged opposite to each other, wherein the first rollers are arranged perpendicularly to the second rollers.

6. A steel pipe welding system, characterized in that: It comprises a welding wire transmission device, a welding robot and a pipe rotating device as described in any one of claims 1 to 5, wherein the welding wire transmission device is used to transmit the welding wire to the welding robot, and the welding robot is used to weld the steel pipe placed on the pipe rotating device.

7. A steel pipe welding system according to claim 6, characterized in that: The welding robot comprises a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft and a fifth rotating shaft.

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