A large-scale pipeline intelligent welding platform and its control system

Abstract

The present invention provides a large-scale pipeline intelligent welding platform and its control system, including: a frame, arranged with a workbench for carrying personnel and operating equipment; a frame, fixed to the outside of the frame, provided with a shelf for placing welding power supply, gas cylinders and welding wire; a seam pressing mechanism, used to adjust the end face of the pipeline to be flush; a track laying mechanism, used to lay two flexible magnetic tracks on the inner wall of the pipeline; two intelligent welding trolleys, respectively moving on the flexible magnetic tracks for welding the pipeline welds, each flexible magnetic track can provide a working range of more than 180° for the intelligent welding trolley; a support and walking mechanism, used to support and drive the welding platform to walk; a locking mechanism is used for braking and positioning the vehicle body. The provided intelligent welding platform can adapt to pipelines of different diameters and shapes, and can be easily adjusted to the best working state through the design of hydraulic push rods and flexible magnetic tracks, and is suitable for construction needs under various complex terrains and environmental conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline welding, and in particular to a large-scale pipeline intelligent welding platform and a control system thereof. Background Art

[0002] With the development of industrial technology, the demand for the construction of large pipelines is increasing, especially in the fields of energy transportation, chemical industry, etc. Traditional manual welding methods have many limitations when facing complex terrain and harsh environments, such as low work efficiency, unstable welding quality, and high labor costs. In order to improve welding efficiency and quality and reduce construction difficulty, intelligent welding platforms came into being.

[0003] Existing large-scale pipeline welding usually uses fixed or semi-automatic welding equipment, which faces the following challenges in practical applications:

[0004] It is not flexible enough to deal with pipes of different diameters and shapes, especially in complex geographical environments such as mountainous areas and hills, where traditional welding equipment is difficult to enter the work site;

[0005] It requires a lot of manpower, which not only increases the construction cost, but also makes it difficult to ensure the quality and consistency of welding due to the influence of human factors;

[0006] When welding is performed at high altitude or in a narrow space, the safety risk to operators is high, and the high temperature and sparks generated during welding pose a threat to the surrounding environment;

[0007] The equipment has a complex structure and once a failure occurs, it is difficult to repair and maintain, which affects the construction progress. Summary of the invention

[0008] In view of the shortcomings of the prior art, the present invention provides a large-scale pipeline intelligent welding platform. In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0009] A large-scale pipeline intelligent welding platform, comprising:

[0010] A frame, in which a workbench for carrying personnel and operating equipment is arranged;

[0011] The frame is fixed to the outside of the vehicle frame and is provided with a storage rack for placing welding power source, gas cylinders and welding wire;

[0012] The seam pressing mechanism is used to adjust the end surface of the pipe to be flush;

[0013] A track-laying mechanism, used for laying two flexible magnetic tracks on the inner wall of a pipeline, comprises two support and retaining rings, a plurality of hydraulic push rods, a first track mounting ring, and a second track mounting ring, wherein the support and retaining rings are fixedly connected to a frame and are coaxially arranged in parallel, the hydraulic push rods are fixedly mounted between the support and retaining rings and the first track mounting ring and the second track mounting ring, the first track mounting ring and the second track mounting ring are flexible arc-shaped structures, the flexible magnetic track comprises a telescopic belt and a plurality of electrically controlled magnetic valves fixed on the telescopic belt, the two telescopic belts are respectively fixed on the first track mounting ring and the second track mounting ring, the electrically controlled magnetic valves are respectively arranged at intervals on the two telescopic belts, the extension or shortening of the hydraulic push rod drives the two flexible magnetic tracks to extend or retract together, and the two flexible magnetic tracks are attached to the inner wall of the pipeline through the magnet adsorption effect of the electrically controlled magnetic valves;

[0014] Two intelligent welding trolleys move on flexible magnetic tracks to perform welding operations on pipeline welds. Each flexible magnetic track can provide a working range of more than 180° for the intelligent welding trolley.

[0015] Support and travel mechanism, used to support and drive the welding platform to travel;

[0016] The locking mechanism is used for vehicle braking and positioning.

[0017] Furthermore, the flexible magnetic track is in an arc shape, and overlapping parts are provided at both ends of the two flexible magnetic tracks, and the welding point of the intelligent welding trolley is located between the two flexible magnetic tracks.

[0018] Furthermore, the seam pressing mechanism includes a rotating shaft, a sleeve, a first rod body, a first jack, a first jack, a second rod body, a second jack and a second jack. The rotating shaft is driven to rotate by a motor installed in the frame, the sleeve is fixed to the end of the rotating shaft, the first rod body and the second rod body are respectively fixed to the two ends of the sleeve, the first jack and the second jack are respectively fixedly installed at the ends of the first rod body and the second rod body and adopt hydraulic jacks, and the first jack and the second jack are respectively fixed to the ends of the telescopic shafts of the first jack and the second jack.

[0019] Furthermore, the intelligent welding trolley includes a trolley body, a laser detector, a welding gun, a driving mechanism and a wire feeding mechanism. The power supply and gas supply systems for welding are integrated in the trolley body. The laser detector is used to scan the welding area and feed back information to the workbench of the frame. The driving mechanism uses an electromagnet core and a magnetic track to generate magnetic force to drive the intelligent welding trolley to move on the flexible magnetic track. The wire feeding mechanism is used to transport the welding wire in the frame to the welding gun for welding.

[0020] Furthermore, the support and walking mechanism includes four driving wheels, four hydraulic struts, a servo motor and two supporting wheels. The driving wheels are fixedly mounted on the bottom of the frame through the hydraulic struts and driven by the servo motor installed in the frame. The hydraulic struts are used to adjust the height of the entire frame. The supporting wheels are fixed on both sides of the frame to maintain the balance of the frame.

[0021] Furthermore, the locking mechanism includes a support leg, a hydraulic adjustment rod, an electric push rod and a limit plate. The support leg is arranged around the frame, the support leg is hinged to the frame, the hydraulic adjustment rod is hinged to the frame and the support leg, the limit plate is hinged to the end of the support leg, and the electric push rod is hinged between the support leg and the limit plate.

[0022] Furthermore, the workbench integrates a control and display desktop and a seat and is fixedly connected into a whole.

[0023] The present invention also provides a control system for a large-scale pipeline intelligent welding platform, which is used to control the welding platform as described above, and comprises:

[0024] A main controller for managing the control actions of the intelligent welding carriage;

[0025] A user interface, located on a workbench inside the frame, for operators to enter commands and view status information;

[0026] The PID control algorithm is used to adjust the speed of the intelligent welding trolley so that the intelligent welding trolley can walk stably on the magnetic guide rail. The PID control algorithm performs proportional (P), integral (I), and differential (D) operations according to the deviation between the given quantity and the feedback quantity to form a control quantity. u ( t ), its mathematical expression is:

[0027] ;

[0028] In the formula, u ( t ) is the output variable, e ( t ) is the deviation between the given value and the feedback value, K p is the proportional gain, T D is the differential coefficient, T t is the integration coefficient, t is the sampling time;

[0029] For discrete control systems, the above ideal PID control formula needs to be discretized, and the control law of the digital PID regulator is as follows:

[0030] ;

[0031] In the formula, is the output variable, is the deviation between the given value and the feedback value, K P is the proportional gain, T D is the differential coefficient, T t is the integration coefficient, is the control constant, T is the sampling period, For the subsampling;

[0032] When the control system controls the actuator, the incremental value of the control quantity is used to derive the PID incremental control expression as follows:

[0033] ;

[0034] Arrange the formula:

[0035] ;

[0036] in:

[0037] .

[0038] Furthermore, a seven-stage serpentine acceleration and deceleration algorithm is included to optimize the reversing impact during the left and right swing of the welding gun. The algorithm divides the movement of the welding gun into seven stages, each with a specific acceleration and jerk curve, specifically:

[0039] The jerk formula for each segment is:

[0040] ;

[0041] In the formula, J is the jerk, t i For each segment end time, i =1,2,3,4,5,6,7;

[0042] The acceleration formula for each segment is:

[0043] ;

[0044] In the formula, is the acceleration, t i For each segment end time, i =1,2,3,4,5,6,7;

[0045] The speed formula for each section is:

[0046] ;

[0047] In the formula, are constants, t i For each segment end time, i =1,2,3,4,5,6,7.

[0048] Furthermore, it also includes horizontal offset detection and data smoothing algorithms, which are used to monitor the offset between the weld center and the welding gun swing center in real time, and process the information fed back by the sensor through data smoothing technology based on a sliding window; when the number of data in the sliding window exceeds the preset value, the average value of these data is calculated and compared with the data at the current moment; if the difference between the current data and the average value exceeds the set threshold, it is judged as abnormal data and is not output; otherwise, the data at the current moment is retained and output, and the data queue in the sliding window is updated at the same time; after each update of the sliding window, the data that enters the window earliest is automatically deleted to ensure that the window always contains the latest data points.

[0049] Compared with the prior art, the present invention has the following beneficial effects:

[0050] 1. The intelligent welding platform provided by the present invention can adapt to pipes of different diameters and shapes, and can be easily adjusted to the best working state through the design of hydraulic push rods and flexible magnetic tracks, and is suitable for construction needs under various complex terrains and environmental conditions;

[0051] 2. The intelligent welding carriage is equipped with advanced laser detectors and PID control algorithms, which can accurately track the weld and maintain a stable speed to ensure the consistency and high quality of the welding process. The seven-segment serpentine acceleration and deceleration algorithm further optimizes the movement trajectory of the welding gun, reduces the reversing shock, and improves the welding efficiency;

[0052] 3. The design of the locking mechanism and the support and walking mechanism effectively prevents the welding platform from accidentally moving during the construction process, ensuring the safety of operators and equipment. At the same time, the power supply and gas supply systems of the intelligent welding trolley are integrated into the body of the trolley, avoiding interference from external power lines and gas pipes, and improving the safety of the construction site;

[0053] 4. The present invention designs a large-scale pipeline welding platform that integrates walking, supporting, locking and automatic welding. It can perform welding operations in various complex environments. Two welding carriages are used for simultaneous welding operations. The welding efficiency is higher than other automatic welding equipment.

[0054] 5. The workbench design that integrates control, display desktop and seats provides a comfortable operating environment. Operators can easily configure welding parameters, start / stop welding tasks, and monitor welding progress and quality in real time through the touch screen or buttons. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0056] Figure 1 This is a schematic diagram of the overall structure of a welding platform according to an embodiment of the present invention;

[0057] Figure 2 This is an enlarged schematic diagram of a welding carriage according to an embodiment of the present invention;

[0058] Figure 3 It is a front structural schematic diagram of an embodiment of the present invention;

[0059] Figure 4 This is a schematic diagram of an inner circumferential seam welding operation performed by a welding trolley according to an embodiment of the present invention;

[0060] Figure 5 This is a curve diagram of the seven-segment serpentine acceleration and deceleration algorithm according to an embodiment of the present invention;

[0061] Figure 6 The figure is a flow chart of a horizontal offset detection and data smoothing algorithm according to an embodiment of the present invention.

[0062] In the above drawings: sleeve 1, first rod body 2, first jack 3, first plug 4, support and retaining ring 5, welding trolley 6, trolley body 61, laser detector 62, welding gun 63, drive mechanism 64, wire feeding mechanism 65, hydraulic push rod 7, first track mounting ring 8, electric controlled magnetic valve 9, first flexible magnetic track 10, frame 11, frame 12, workbench 121, seat 122, locking mechanism 13, support leg 131, hydraulic adjustment rod 132, electric push rod 133, limit plate 134, support and walking mechanism 14, drive wheel 141, hydraulic support rod 142, support wheel 143, storage rack 15, second flexible magnetic track 17, second plug 18, second jack 19, second rod body 20, rotating shaft 21, second track mounting ring 22, first pipe wall 23, second pipe wall 24, weld 25. DETAILED DESCRIPTION

[0063] The technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0064] Please refer to Figures 1 to 4 As shown, a large-scale pipeline intelligent welding platform includes:

[0065] The frame 12 has a workbench 121 arranged inside the frame 12 for carrying personnel and operating equipment; as the basis of the entire platform, the workbench 121 integrates a control panel, a display screen and a seat 122, providing a comfortable working environment for the operator;

[0066] The frame 11 is fixed to the outside of the vehicle frame 12 and is provided with a storage rack 15 for placing a welding power source, a gas cylinder and welding wire;

[0067] The seam pressing mechanism is used to adjust the end surface of the pipe to be flush;

[0068] A track laying mechanism, used for laying two flexible magnetic tracks on the inner wall of a pipeline, comprises two support and retaining rings 5, a plurality of hydraulic push rods 7, a first track mounting ring 8, and a second track mounting ring 22, wherein the support and retaining ring 5 is fixedly connected to a frame 11 and coaxially arranged in parallel, the hydraulic push rod 7 is fixedly mounted between the support and retaining ring 5 and the first track mounting ring 8 and the second track mounting ring 22, the first track mounting ring 8 and the second track mounting ring 22 are flexible arc-shaped structures, the flexible magnetic track comprises a telescopic belt and a plurality of electrically controlled magnetic valves 9 fixed on the telescopic belt, the two telescopic belts are respectively fixed on the first track mounting ring 8 and the second track mounting ring 22, the electrically controlled magnetic valves 9 are respectively arranged at intervals on the two telescopic belts, the extension or shortening of the hydraulic push rod 7 drives the two flexible magnetic tracks to extend or retract together, and the two flexible magnetic tracks are attached to the inner wall of the pipeline through the magnet adsorption effect of the electrically controlled magnetic valve 9; wherein the telescopic belt is made of heat-resistant material, the electrically controlled magnetic valve is riveted to the telescopic belt by rivets, and the telescopic belt is riveted to the track mounting ring by rivets;

[0069] Two intelligent welding carriages 6 are respectively moved on flexible magnetic tracks for welding the pipeline weld 25, and each flexible magnetic track can provide a working range of more than 180° for the intelligent welding carriage 6;

[0070] A supporting and traveling mechanism 14, used for supporting and driving the welding platform to travel;

[0071] The locking mechanism 13 is used for braking and positioning the vehicle body.

[0072] The working principle is that the working table 121 arranged in the frame 12 carries the operating personnel and equipment, the seam pressing mechanism arranged on the frame 11 adjusts the end face of the pipeline to be flush, the track laying mechanism lays two flexible magnetic tracks on the inner wall of the pipeline, and the two intelligent welding carriages 6 move along the tracks to weld the weld 25. The support and walking mechanism 14 drives the platform to walk and adjust the posture, and the locking mechanism 13 ensures the stable positioning of the platform during the welding process, thereby realizing automated, efficient and stable pipeline inner circumferential seam welding operations.

[0073] In this embodiment, if Figure 1 As shown, the flexible magnetic track is an arc shape, and both ends of the two flexible magnetic tracks are provided with overlapping parts, and the welding point of the intelligent welding trolley 6 is located between the two flexible magnetic tracks. Figure 1For the purpose of distinction, the flexible magnetic track can be set as a first flexible magnetic track 10 and a second flexible magnetic track 17. When the flexible magnetic track is fully extended, its radius is the radius of the inner wall of the pipeline, and the track is attached to the inner wall of the pipeline through the adsorption of the magnet. Due to the distance between the two track mounting ring planes, when the flexible magnetic track is extended with the track mounting ring and attached to the inner wall of the pipeline through the magnetic attraction of the electric-controlled magnetic valve 9, the two semicircular flexible magnetic tracks are parallel, and each track can provide a working range of more than 180° for the welding trolley 6, thereby ensuring that the two trolleys can jointly complete the inner ring seam welding of the pipeline.

[0074] In this embodiment, if Figure 1 As shown, the seam pressing mechanism includes a rotating shaft 21, a sleeve 1, a first rod 2, a first jack 3, a first jack 4, a second rod 20, a second jack 19 and a second jack 18. The rotating shaft 21 is driven to rotate by a motor installed in the frame 12. The sleeve 1 is fixed to the end of the rotating shaft 21. The first rod 2 and the second rod 20 are respectively fixed to the two ends of the sleeve 1. The first jack 3 and the second jack 19 are respectively fixed to the ends of the first rod 2 and the second rod 20 and use hydraulic jacks. The first jack 4 and the second jack 18 are respectively fixed to the ends of the telescopic shafts of the first jack 3 and the second jack 19. The rotating shaft 21 is driven to rotate by the motor, driving the sleeve 1 and the first rod 2 and the second rod 20 at both ends to rotate. Finally, the first jack 3 and the second jack 19 act on the inner wall of the pipe to adjust the end faces of the pipe to be flush.

[0075] In this embodiment, if Figure 2 As shown, the intelligent welding carriage 6 includes a carriage body 61, a laser detector 62, a welding gun 63, a driving mechanism 64 and a wire feeding mechanism 65. The power supply and gas supply system for welding are integrated in the carriage body 61. The laser detector 62 is used to scan the welding area and feed back the information to the workbench 121 of the frame 12. The driving mechanism 64 uses an electromagnet core and a magnetic track to generate magnetic force to push the intelligent welding carriage 6 to move on the flexible magnetic track. The wire feeding mechanism 65 is used to transport the welding wire in the frame 11 to the welding gun 63 for welding. After the welding area is artificially preheated, two welding carriages 6 perform welding operations simultaneously to improve welding efficiency. The two welding carriages 6 are respectively located on two magnetic rails and are installed in opposite directions. The welding guns 63 at the heads of the two welding carriages 6 are located in the same circular plane as the welding circle. The two welding carriages 6 respectively complete the inner circumferential seam welding of two semicircular pipes. As shown Figure 4As shown, the welding gun 63 of the welding carriage 6 performs welding operation on the weld 25 between the first pipe wall 23 and the second pipe wall 24. The welding carriage 6 is widely used in industry, and the structure and working principle for basic welding can refer to the contents disclosed in CN112475704A or CN111633311B, which will not be described here.

[0076] In this embodiment, if Figure 1 , 3 As shown, the support and walking mechanism 14 includes four driving wheels 141, four hydraulic support rods 142, a servo motor and two supporting wheels 143. The driving wheels 141 are fixedly mounted on the bottom of the frame 12 through the hydraulic support rods 142 and driven by the servo motor installed in the frame 12. The hydraulic support rods 142 are used to adjust the height of the entire frame 12. The supporting wheels 143 are fixed on both sides of the frame 12 to maintain the balance of the frame 12.

[0077] In this embodiment, if Figure 3 As shown, the locking mechanism 13 includes a leg 131, a hydraulic adjustment rod 132, an electric push rod 133 and a limit plate 134. The leg 131 is arranged around the frame 11, the leg 131 is hinged on the frame 11, the hydraulic adjustment rod 132 is hinged on the frame 11 and the leg 131, the limit plate 134 is hinged at the end of the leg 131, and the electric push rod 133 is hinged between the leg 131 and the limit plate 134. The extension and retraction of the hydraulic adjustment rod 132 can drive the extension or retraction of the leg 131, and the extension and retraction of the electric push rod 133 can drive the extension or retraction of the limit plate 134. When the leg 131 is extended, the limit plate 134 is attached to the pipe wall, and the braking or locking is achieved by friction interlocking, which has the passive safety function of one-way geometric braking.

[0078] The workbench 121 integrates the control and display desktops and the seats 122 and is fixedly connected into a whole, so as to facilitate operation and save space.

[0079] The present invention also provides a control system for a large-scale pipeline intelligent welding platform, which is used to control the welding platform as described above, and comprises:

[0080] A main controller for managing the control actions of the intelligent welding carriage 6;

[0081] A user interface, located on a workbench 121 within the frame 12, for an operator to input commands and view status information;

[0082] The PID control algorithm is used to adjust the speed of the intelligent welding trolley so that the intelligent welding trolley can walk stably on the magnetic guide rail. The PID control algorithm performs proportional (P), integral (I), and differential (D) operations according to the deviation between the given quantity and the feedback quantity to form a control quantity. u (t ), its mathematical expression is:

[0083] ;

[0084] In the formula, u ( t ) is the output variable, e ( t ) is the deviation between the given value and the feedback value, K p is the proportional gain, T D is the differential coefficient, T t is the integration coefficient, t is the sampling time;

[0085] For discrete control systems, the above ideal PID control formula needs to be discretized, and the control law of the digital PID regulator is as follows:

[0086] ;

[0087] In the formula, is the output variable, is the deviation between the given value and the feedback value, K P is the proportional gain, T D is the differential coefficient, T t is the integration coefficient, is the control constant, T is the sampling period, For the subsampling;

[0088] When the control system controls the actuator, the incremental value of the control quantity is used to derive the PID incremental control expression as follows:

[0089] ;

[0090] Arrange the formula:

[0091] ;

[0092] in:

[0093] .

[0094] The control system algorithm also includes a seven-stage serpentine acceleration and deceleration algorithm, which is used to optimize the reversing impact during the left and right swing of the welding gun. The algorithm divides the movement of the welding gun into seven stages, which are respectively divided into acceleration stage, uniform acceleration stage, deceleration stage, uniform speed stage, acceleration and deceleration stage, uniform deceleration stage, and deceleration and deceleration stage. The relationship curve with time t is shown in the figure below: Figure 5As shown, the starting and ending velocities are both zero, and the uniform velocity is v max Assuming that the distance of the welding gun swing is greater than the distance traveled in the acceleration and deceleration stage, the maximum acceleration a max , maximum jerk J max Each stage has a specific acceleration and jerk curve, specifically:

[0095] The jerk formula for each segment is:

[0096] ;

[0097] In the formula, J is the jerk, t i For each segment end time, i =1,2,3,4,5,6,7;

[0098] The acceleration formula for each segment is:

[0099] ;

[0100] In the formula, is the acceleration, t i For each segment end time, i =1,2,3,4,5,6,7;

[0101] The speed formula for each section is:

[0102] ;

[0103] In the formula, are constants, t i For each segment end time, i =1,2,3,4,5,6,7.

[0104] Preferably, Figure 6 As shown, it also includes horizontal offset detection and data smoothing algorithms, which are used to monitor the offset between the weld center and the welding gun swing center in real time, and process the information fed back by the sensor through a data smoothing technology based on a sliding window; when the number of data in the sliding window exceeds a preset value, the average value of these data is calculated and compared with the data at the current moment; if the difference between the current data and the average value exceeds the set threshold, it is determined to be abnormal data and is not output; otherwise, the data at the current moment is retained and output, and the data queue in the sliding window is updated at the same time; after each update of the sliding window, the data that enters the window earliest is automatically deleted to ensure that the window always contains the latest data points.

[0105] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution of the present invention, which should be included in the scope of the claims of the present invention.

Claims

1. A large-scale pipeline intelligent welding platform, characterized in that: include: A frame, in which a workbench for carrying personnel and operating equipment is arranged; The frame is fixed to the outside of the vehicle frame and is provided with a storage rack for placing welding power source, gas cylinders and welding wire; The seam pressing mechanism is used to adjust the end surface of the pipe to be flush; A track-laying mechanism, used for laying two flexible magnetic tracks on the inner wall of a pipeline, comprises two support and retaining rings, a plurality of hydraulic push rods, a first track mounting ring, and a second track mounting ring, wherein the support and retaining rings are fixedly connected to a frame and are coaxially arranged in parallel, the hydraulic push rods are fixedly mounted between the support and retaining rings and the first track mounting ring and the second track mounting ring, the first track mounting ring and the second track mounting ring are flexible arc-shaped structures, the flexible magnetic track comprises a telescopic belt and a plurality of electrically controlled magnetic valves fixed on the telescopic belt, the two telescopic belts are respectively fixed on the first track mounting ring and the second track mounting ring, the electrically controlled magnetic valves are respectively arranged at intervals on the two telescopic belts, the extension or shortening of the hydraulic push rod drives the two flexible magnetic tracks to extend or retract together, and the two flexible magnetic tracks are attached to the inner wall of the pipeline through the magnet adsorption effect of the electrically controlled magnetic valves; Two intelligent welding trolleys move on flexible magnetic tracks to perform welding operations on pipeline welds. Each flexible magnetic track can provide a working range of more than 180° for the intelligent welding trolley; Support and travel mechanism, used to support and drive the welding platform to travel; The locking mechanism is used for vehicle braking and positioning.

2. According to claim 1, a large-scale pipeline intelligent welding platform is characterized in that: The flexible magnetic track is in an arc shape, and overlapping parts are arranged at both ends of the two flexible magnetic tracks. The welding point of the intelligent welding trolley is located between the two flexible magnetic tracks.

3. According to claim 1, a large-scale pipeline intelligent welding platform is characterized in that: The seam pressing mechanism includes a rotating shaft, a sleeve, a first rod body, a first jack, a first jack, a second rod body, a second jack and a second jack. The rotating shaft is driven to rotate by a motor installed in a frame. The sleeve is fixed to the end of the rotating shaft. The first rod body and the second rod body are respectively fixed to the two ends of the sleeve. The first jack and the second jack are respectively fixed to the ends of the first rod body and the second rod body and adopt hydraulic jacks. The first jack and the second jack are respectively fixed to the ends of the telescopic shafts of the first jack and the second jack.

4. The large-scale pipeline intelligent welding platform according to claim 1 is characterized in that: The intelligent welding trolley includes a trolley body, a laser detector, a welding gun, a driving mechanism and a wire feeding mechanism. The power supply and gas supply systems for welding are integrated in the trolley body. The laser detector is used to scan the welding area and feed back information to the workbench of the frame. The driving mechanism uses an electromagnet core and a magnetic track to generate magnetic force to push the intelligent welding trolley to move on the flexible magnetic track. The wire feeding mechanism is used to transport the welding wire in the frame to the welding gun for welding.

5. The large-scale pipeline intelligent welding platform according to claim 1 is characterized in that: The support and walking mechanism includes four driving wheels, four hydraulic struts, a servo motor and two supporting wheels. The driving wheels are fixedly mounted on the bottom of the frame through the hydraulic struts and driven by the servo motor installed in the frame. The hydraulic struts are used to adjust the height of the entire frame. The supporting wheels are fixed on both sides of the frame to maintain the balance of the frame.

6. The large-scale pipeline intelligent welding platform according to claim 1 is characterized by: The locking mechanism includes a support leg, a hydraulic adjustment rod, an electric push rod and a limit plate. The support leg is arranged around the frame, the support leg is hinged on the frame, the hydraulic adjustment rod is hinged on the frame and the support leg, the limit plate is hinged at the end of the support leg, and the electric push rod is hinged between the support leg and the limit plate.

7. The large-scale pipeline intelligent welding platform according to claim 1 is characterized by: The workbench integrates a control table, a display tabletop and a seat and is fixedly connected into a whole.

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