Heat distribution pipeline welding clamping device and method thereof

Abstract

The invention provides a heat distribution pipeline welding clamping device and method, and relates to the technical field of pipeline welding, the heat distribution pipeline welding clamping device comprises a mounting frame, the mounting frame is provided with an overturning frame and an overturning frame driving assembly, and the overturning frame is provided with a straight pipe clamping assembly, a bent pipe alignment assembly and a position recognition assembly; the bent pipe aligning assembly comprises a first inner side limiting shaft, a second inner side limiting shaft, two first bent pipe outer side pushing air cylinders and two second bent pipe outer side pushing air cylinders. According to the butt joint device, the bent pipe, the first straight pipe and the second straight pipe are automatically clamped and aligned at the pipeline installation position, repeated hoisting and carrying of the pipelines are avoided, and the butt joint efficiency of the heat distribution pipelines is improved.

Description

Technical Field

[0001] The invention relates to the technical field of pipeline welding, and in particular to a thermal pipeline welding clamping device and a method thereof. Background Art

[0002] During the installation of thermal pipelines, when the pipelines are reversed according to the pipeline laying requirements, it is necessary to weld the straight pipes and the bent pipes, and the bent pipes are 90 degrees, which requires a pipeline welding clamping device. The existing pipeline welding clamping device includes two clamping frames for synchronously clamping the bent pipes and the straight pipes, respectively. During the use of the pipeline welding clamping device, workers are required to manually or through lifting equipment to install the bent pipes and the straight pipes on the two clamping frames, clamp and align them, and weld them. After welding, the pipelines need to be lifted and transported to the pipeline installation position. Therefore, the existing pipeline welding clamping device is only suitable for smaller-sized and easy-to-carry pipelines. The existing pipeline welding clamping device cannot be adapted to large-sized thermal pipelines that are not easy to repeatedly lift and transport, resulting in low docking efficiency of the thermal pipelines, and the existing pipeline welding clamping device cannot achieve automatic alignment of the bent pipe with the two straight pipes at the installation position.

[0003] Therefore, a thermal pipeline welding clamping device and method are needed to solve the above problems. Summary of the invention

[0004] The present invention proposes a thermal pipeline welding clamping device and method thereof, which realizes automatic clamping and alignment of the bent pipe, the first straight pipe and the second straight pipe at the pipeline installation position through the cooperation of a position identification component, a straight pipe clamping component and a bent pipe alignment component, avoids repeated lifting and transportation of the pipeline, and improves the docking efficiency of the thermal pipeline.

[0005] The technical solution of the present invention is achieved in this way: A thermal pipeline welding clamping device comprises a mounting frame, on which a flip frame for switching between a first pipeline alignment area and a second pipeline alignment area is arranged, on which a flip frame driving assembly is arranged, and the flip frame driving assembly is used to drive the flip frame to move in the Z and Y axis directions and flip along the X axis direction, and on which a straight pipe clamping assembly and a bent pipe alignment assembly are arranged; The bent pipe alignment assembly comprises a first inner limiting shaft and a second inner limiting shaft for alternately limiting the inner side of the bent pipe, the first inner limiting shaft and the second inner limiting shaft are slidably mounted on the bottom and the top of the flip frame respectively, the bottom of the flip frame is fixedly mounted with two first bent pipe outer side pushing cylinders for adjusting the placement angle of the bent pipe after the first inner limiting shaft is limited, and the top of the flip frame is fixedly mounted with two second bent pipe outer side pushing cylinders for adjusting the placement angle of the bent pipe after the second inner limiting shaft is limited; The turning frame is also provided with a position identification component for obtaining information of the first straight tube, the second straight tube and the bent tube.

[0006] As a preferred technical solution, the straight pipe clamping assembly includes two first jaws and two second jaws, the two first jaws are used to clamp the first straight pipe arranged in the first pipe alignment area along the X-axis, and the two second jaws are used to clamp the second straight pipe arranged in the second pipe alignment area along the Y-axis. A first sliding block is slidably installed on the flip frame along the X-axis direction, and the two first jaws are hinged on the first sliding block and are arranged below the flip frame. A second sliding block is slidably installed on the flip frame along the Y-axis direction, and the two second jaws are hinged on the second sliding block and are arranged above the flip frame.

[0007] As a preferred technical solution, the two first jaws are symmetrically arranged along the X-axis, and the two second jaws are symmetrically arranged along the Y-axis. The first jaw and the second jaw are both hinged with a guide wheel at one end close to the flip frame, and the first jaw and the second jaw are both fixedly installed with an arc-shaped clamping plate at one end away from the flip frame.

[0008] As a preferred technical solution, a clamping jaw driving device is provided on the first slider and the second slider, and each of the clamping jaw driving devices includes a pushing block. A sliding groove is provided on the first slider and the second slider along the Z-axis direction, and each of the pushing blocks is slidably installed in the corresponding sliding groove. A pushing block driving cylinder is fixedly installed on the first slider and the second slider, and the piston rod of each pushing block driving cylinder is fixedly connected to the corresponding pushing block. Two guide inclined surfaces are symmetrically provided on each pushing block, and each guide wheel rests on the corresponding guide inclined surface.

[0009] As a preferred technical solution, an arc-shaped supporting plate is respectively provided between the two first clamping jaws and between the two second clamping jaws, and the two arc-shaped supporting plates are respectively fixedly mounted on the corresponding pushing blocks and symmetrically arranged on both sides of the flip frame.

[0010] As a preferred technical solution, a hinge shaft is arranged between the two first clamps and the first sliding block, and between the two second clamps and the second sliding block, each of the hinge shafts is arranged between the corresponding guide wheel and the corresponding arc-shaped clamping plate, and a torsion spring is arranged between each first clamp, each second clamp and the corresponding hinge shaft to move the corresponding arc-shaped clamping plate outward.

[0011] As a preferred technical solution, a first slide rail is fixedly installed on the bottom of the flip frame, and the angle between the first slide rail and the X-axis is 45 degrees. The first inner limit shaft arranged along the Z-axis is slidably installed on the first slide rail, and a first limit shaft screw nut driving mechanism is arranged between the first inner limit shaft and the flip frame. A second slide rail is fixedly installed on the top of the flip frame, and the angle between the second slide rail and the Y-axis is 45 degrees. The second inner limit shaft arranged along the Z-axis is slidably installed on the second slide rail, and a second limit shaft screw nut driving mechanism is arranged between the second inner limit shaft and the flip frame, and limiting ring grooves are provided on the outer circumferential surfaces of the first inner limit shaft and the second inner limit shaft.

[0012] As a preferred technical solution, the two outer push cylinders of the first curved pipe are symmetrically arranged on both sides of the first slide rail, and the two outer push cylinders of the second curved pipe are symmetrically arranged on both sides of the second slide rail.

[0013] As a preferred technical solution, the flip frame driving assembly includes a sliding seat on the mounting frame along the Y-axis direction, a lifting seat is slidably mounted on the sliding seat along the Z-axis direction, a rotating shaft arranged along the X-axis is fixedly mounted on the flip frame, and the rotating shaft is rotatably mounted on the lifting seat.

[0014] The method for welding and clamping a thermal pipeline specifically comprises the following steps: S1. Place the first straight pipe, the second straight pipe and the curved pipe at the position to be installed, draw lines on the first straight pipe, the second straight pipe and the curved pipe to obtain a first auxiliary line, a second auxiliary line and a third auxiliary line respectively, and obtain position information of the first auxiliary line, the second auxiliary line and the third auxiliary line through the position recognition component; S2, the flip frame moves downward, the straight tube clamping assembly clamps the first straight tube, and according to the diameter of the first straight tube, the first inner limit axis moves toward the direction of the bent tube, and the two outer push cylinders of the first bent tube push the inner side of the bent tube against the first inner limit axis; S3, the outer pushing cylinder of the first curved pipe pushes the skewed end of the curved pipe until the position recognition component recognizes that the angle between the first auxiliary line and the third auxiliary line is 45 degrees, that is, the curved pipe is aligned with the first straight pipe; S4, the straight tube clamping assembly clamps and moves the first straight tube close to the bent tube, waiting for welding, and after welding is completed, loosens the first straight tube and the bent tube, the flip frame moves up and flips 180 degrees, and then moves down, the straight tube clamping assembly clamps the second straight tube, and according to the diameter of the second straight tube, the second inner limit axis moves in a direction close to the bent tube, and the two outer push cylinders of the second bent tube push the inner side of the bent tube against the second side limit axis; S5, the outer pushing cylinder of the second curved pipe pushes the skewed end of the curved pipe until the position recognition component recognizes that the angle between the second auxiliary line and the third auxiliary line is 45 degrees, that is, the curved pipe is aligned with the second straight pipe; S6, the straight pipe clamping assembly clamps and moves the second straight pipe close to the bent pipe, waiting for welding. After welding is completed, the flip frame is reset to prepare for the next bent pipe welding clamping.

[0015] By adopting the above technical solution, the beneficial effects of the present invention are as follows: Since the thermal pipe welding clamping device includes a turning frame, during the use of the device, the bent pipe, the first straight pipe and the second straight pipe are placed at the pipe installation position, and when the first inner limiting shaft, the two first bent pipe outer pushing cylinders and the two first clamping claws are located below the turning frame, the straight pipe clamping assembly clamps the first straight pipe, and at the same time the first inner limiting shaft limits the inner side of the bent pipe. After the inner side of the bent pipe is limited, the two first bent pipe outer pushing cylinders cooperate with the position recognition assembly to push the outer side of the bent pipe, thereby adjusting the placement angle of the bent pipe, and further aligning the end of the bent pipe in the first pipe alignment area with the end of the first straight pipe.

[0016] After the bent pipe is welded to the first straight pipe, the turning frame rises and turns 180 degrees, the second inner limiting shaft, two second bent pipe outer pushing cylinders and two second clamps are located below the turning frame, and the straight pipe clamping assembly clamps the second straight pipe, the second inner limiting shaft limits the inner side of the bent pipe, and the two second bent pipe outer pushing cylinders push the outer side of the bent pipe, thereby straightening the bent pipe, and then aligning the end of the bent pipe in the second pipeline alignment area with the end of the second straight pipe, thereby achieving alignment of the two ends of the bent pipe with the first straight pipe and the second straight pipe respectively.

[0017] In the present invention, through the cooperation of the position identification component, the straight pipe clamping component and the bent pipe alignment component, and by utilizing the flipping of the flip seat, the automatic clamping and alignment of the bent pipe, the first straight pipe and the second straight pipe at the pipeline installation position are realized. This is particularly suitable for large-diameter pipelines, avoids repeated lifting and transportation of large-diameter pipelines, and improves the docking efficiency of large-diameter thermal pipelines.

[0018] Since the thermal pipeline welding clamping device includes a straight pipe clamping assembly, in the process of clamping the first straight pipe, the two first clamping jaws are initially in an open state under the action of a torsion spring, and the corresponding pushing block moves toward the first clamping jaw under the push of the piston rod of the pushing block driving cylinder, and the two guide wheels move outward under the push of the two guide inclined surfaces. Since the hinge shaft is arranged between the guide wheel and the arc-shaped clamping plate, the arc-shaped clamping plate at the lower end of the first clamping jaw moves inward, thereby realizing the clamping action, and then realizing the automatic clamping of the first straight pipe.

[0019] Since the thermal pipeline welding clamping device includes a bend alignment component, in the process of straightening the bend, after the diameter of the first straight pipe is identified by the position identification component, the first inner limit axis slides in the direction close to the bend according to the diameter of the first straight pipe, and is used to limit the inner side of the bend so that the inner side of the bend matches the inner side of the straight pipe. After the inner side of the bend is limited, the two second bend outer side pushing cylinders push the bend on both sides of the first inner limit axis, so that the placement angle of the bend can be adjusted, thereby realizing automatic straightening of the bend.

[0020] Since the straight pipe clamping assembly includes an arc-shaped support plate, when the first clamping jaw clamps the first straight pipe, the arc-shaped support plate between the two first clamping jaws rests on the top of the first straight pipe, thereby realizing three-point clamping and positioning of the pipe, increasing the stability of the pipe clamping, and reducing the sliding friction during the process of clamping and moving the first straight pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0022] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 is a top view of the flip frame; Figure 3 is a bottom view of the flip frame; Figure 4 is a top view of the first sliding block; Figure 5 A reference diagram of a state in which two first clamping jaws clamp the first straight pipe; Figure 6 A reference diagram of the state when the two first clamping jaws are opened; Figure 7 A state reference diagram for aligning the first pipe alignment zone elbow and the first straight pipe; Figure 8A state reference diagram for aligning the bent pipe in the second pipe alignment area and the second straight pipe; Fig. 9 This is the system structure block diagram of the controller.

[0023] Wherein: 1. mounting frame; 2. first pipe alignment area; 3. second pipe alignment area; 4. flip frame; 5. first clamping jaw; 6. second clamping jaw; 7. first straight pipe; 8. second straight pipe; 9. first sliding block; 10. second sliding block; 11. curved pipe; 12. first inner limiting axis; 13. second inner limiting axis; 14. first curved pipe outer push cylinder; 15. second curved pipe outer push cylinder; 16. guide wheel; 17. arc clamping plate; 18. push block; 19. slide groove; 20. push block drive cylinder; 21. guide slope; 22. arc top plate; 23. hinge shaft; 24. torsion spring; 25. first slide rail; 26. second slide rail; 27. limiting ring groove; 28. sliding seat; 29. ​​lifting seat; 30. rotating shaft; 31. first Guide column; 32, second guide column; 33, first slider driving cylinder; 34, second slider driving cylinder; 35, first limit shaft driving screw; 36, first limit shaft driving nut; 37, first screw driving motor; 38, second limit shaft driving screw; 39, second limit shaft driving nut; 40, second screw driving motor; 41, third slide rail; 42, sliding seat driving screw; 43, sliding seat driving nut; 44, third screw driving motor; 45, fourth slide rail; 46, lifting seat driving cylinder; 47, first synchronous pulley; 48, second synchronous pulley; 49, synchronous belt; 50, pulley driving motor; 51, visual recognition camera; 52, controller; 53, first auxiliary line; 54, second auxiliary line; 55, third auxiliary line. DETAILED DESCRIPTION

[0024] 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.

[0025] Embodiment 1: like Figure 1-Figure 9 As shown together, the thermal pipeline welding clamping device includes a mounting frame 1, on which a flip frame 4 for switching between a first pipeline alignment area 2 and a second pipeline alignment area 3 is provided, and a flip frame driving assembly is provided on the mounting frame 1. The flip frame driving assembly is used to drive the flip frame 4 to move in the Z and Y axis directions and flip along the X axis direction, and the flip frame 4 is provided with a straight pipe clamping assembly and a bent pipe alignment assembly.

[0026] The bend alignment assembly includes a first inner limiting shaft 12 and a second inner limiting shaft 13 for alternately limiting the inner side of the bend 11. The first inner limiting shaft 12 and the second inner limiting shaft 13 are respectively slidably installed on the bottom and the top of the turning frame 4. Two first bend outer pushing cylinders 14 for adjusting the placement angle of the bend 11 after the first inner limiting shaft 12 is limited are fixedly installed on the bottom of the turning frame 4. Two second bend outer pushing cylinders 15 for adjusting the placement angle of the bend 11 after the second inner limiting shaft 13 is limited are fixedly installed on the top of the turning frame 4.

[0027] The turning frame 4 is also provided with a position identification component for obtaining information of the curved pipe 11 , the first straight pipe 7 and the second straight pipe 8 .

[0028] The straight pipe clamping assembly includes two first clamping jaws 5 and two second clamping jaws 6. The two first clamping jaws 5 are used to clamp a first straight pipe 7 arranged in the first pipe alignment area 2 along the X-axis. The two second clamping jaws 6 are used to clamp a second straight pipe 8 arranged in the second pipe alignment area 3 along the Y-axis. A first sliding block 9 is slidably installed on the flip frame 4 along the X-axis direction. The two first clamping jaws 5 are hinged on the first sliding block 9 and are arranged below the flip frame 4. A second sliding block 10 is slidably installed on the flip frame 4 along the Y-axis direction. The two second clamping jaws 6 are hinged on the second sliding block 10 and are arranged above the flip frame 4.

[0029] like Figure 2-Figure 6 As shown together, the two first clamping jaws 5 are symmetrically arranged along the X-axis, and the two second clamping jaws 6 are symmetrically arranged along the Y-axis. The first clamping jaw 5 and the second clamping jaw 6 are both hingedly connected to a guide wheel 16 at one end close to the flip frame 4, and the first clamping jaw 5 and the second clamping jaw 6 are both fixedly installed with an arc-shaped clamping plate 17 at one end away from the flip frame 4.

[0030] A clamping jaw driving device is provided on the first sliding block 9 and the second sliding block 10, and each clamping jaw driving device includes a pushing block 18. A sliding groove 19 is provided on the first sliding block 9 and the second sliding block 10 along the Z-axis direction. Each pushing block 18 is slidably installed in the corresponding sliding groove 19. A pushing block driving cylinder 20 is fixedly installed on the first sliding block 9 and the second sliding block 10. The piston rod of each pushing block driving cylinder 20 is fixedly connected to the corresponding pushing block 18. Two guiding inclined surfaces 21 are symmetrically provided on each pushing block 18, and each guide wheel 16 rests on the corresponding guiding inclined surface 21.

[0031] like Figure 1 and Figure 5 As shown together, an arc-shaped supporting plate 22 is respectively arranged between the two first clamping jaws 5 and between the two second clamping jaws 6 . The two arc-shaped supporting plates 22 are respectively fixedly mounted on the corresponding pushing blocks 18 and symmetrically arranged on both sides of the turning frame 4 .

[0032] A hinge shaft 23 is arranged between the two first clamping jaws 5 and the first sliding block 9, and between the two second clamping jaws 6 and the second sliding block 10. Each hinge shaft 23 is arranged between the corresponding guide wheel 16 and the corresponding arc-shaped clamping plate 17. A torsion spring 24 is arranged between each first clamping jaw 5, each second clamping jaw 6 and the corresponding hinge shaft 23 for moving the corresponding arc-shaped clamping plate 17 outward.

[0033] A first slide rail 25 is fixedly installed at the bottom of the flip frame 4, and the angle between the first slide rail 25 and the X-axis is 45 degrees. A first inner limit shaft 12 arranged along the Z-axis is slidably installed on the first slide rail 25, and a first limit shaft screw nut driving mechanism is arranged between the first inner limit shaft 12 and the flip frame 4. A second slide rail 26 is fixedly installed on the top of the flip frame 4, and the angle between the second slide rail 26 and the Y-axis is 45 degrees. A second inner limit shaft 13 arranged along the Z-axis is slidably installed on the second slide rail 26, and a second limit shaft screw nut driving mechanism is arranged between the second inner limit shaft 13 and the flip frame 4. Limiting ring grooves 27 are provided on the outer circumferential surfaces of the first inner limit shaft 12 and the second inner limit shaft 13.

[0034] like Figure 2 and Figure 3 As shown together, the two first bend pipe outer side pushing cylinders 14 are symmetrically arranged on both sides of the first slide rail 25 , and the two second bend pipe outer side pushing cylinders 15 are symmetrically arranged on both sides of the second slide rail 26 .

[0035] The flip frame driving assembly includes a sliding seat 28 mounted on the mounting frame 1 along the Y-axis direction, a lifting seat 29 is slidably mounted on the sliding seat 28 along the Z-axis direction, and a rotating shaft 30 arranged along the X-axis is fixedly mounted on the flip frame 4, and the rotating shaft 30 is rotatably mounted on the lifting seat 29.

[0036] A pair of first guide columns 31 arranged along the X-axis and a pair of second guide columns 32 arranged along the Y-axis are fixedly installed on the flip frame 4, the first sliding block 9 is slidably installed on the two first guide columns 31, and the second sliding block 10 is slidably installed on the two second guide columns 32. A pair of first slider driving cylinders 33 and a pair of second slider driving cylinders 34 are fixedly installed on the flip frame 4, the piston rod of the first slider driving cylinder 33 is connected to the first sliding block 9, and the piston rod of the second slider driving cylinder 34 is connected to the second sliding block 10.

[0037] The first limit shaft lead screw nut driving mechanism includes a first limit shaft driving lead screw 35 rotatably mounted on the bottom of the flip frame 4, a first limit shaft driving nut 36 is threadedly mounted on the first limit shaft driving lead screw 35, the first limit shaft driving nut 36 is connected to the first inner limit shaft 12, and a first lead screw driving motor 37 is fixedly mounted on the bottom of the flip frame 4, and the first lead screw driving motor 37 is transmission-connected to the first limit shaft driving lead screw 35.

[0038] The second limiting shaft lead screw nut driving mechanism includes a second limiting shaft driving lead screw 38 rotatably mounted on the bottom of the flip frame 4, a second limiting shaft driving nut 39 is threadedly mounted on the second limiting shaft driving lead screw 38, the second limiting shaft driving nut 39 is connected to the second inner limiting shaft 13, and a second lead screw driving motor 40 is fixedly mounted on the top of the flip frame 4, and the second lead screw driving motor 40 is transmission-connected to the second limiting shaft driving lead screw 38.

[0039] A pair of third slide rails 41 arranged along the Y-axis are fixedly installed on the mounting frame 1, and the sliding seat 28 is slidably installed on the two third slide rails 41. A sliding seat driving screw 42 is rotatably installed on the mounting frame 1. The sliding seat driving screw 42 is arranged along the Y-axis. A sliding seat driving nut 43 is threadedly installed on the sliding seat driving screw 42. The sliding seat driving nut 43 is fixedly connected to the sliding seat 28. A third screw driving motor 44 is fixedly installed on the mounting frame 1, and the third screw driving motor 44 is drivingly connected to the sliding seat driving screw 42.

[0040] A pair of fourth slide rails 45 arranged along the Z axis are fixedly mounted on the sliding seat 28 , the lifting seat 29 is slidably mounted on the two fourth slide rails 45 , and a lifting seat driving cylinder 46 is fixedly mounted between the sliding seat 28 and the lifting seat 29 .

[0041] A first synchronous pulley 47 is fixedly mounted on the rotating shaft 30 , a second synchronous pulley 48 is rotatably mounted on the lifting seat 29 , a synchronous belt 49 is wound between the first synchronous pulley 47 and the second synchronous pulley 48 , a pulley drive motor 50 is fixedly mounted on the lifting seat 29 , and the pulley drive motor 50 is transmission-connected to the second synchronous pulley 48 .

[0042] The position recognition component includes two visual recognition cameras 51 respectively fixedly mounted on the top and bottom of the flip frame 4 .

[0043] It also includes a controller 52, a pulley drive motor 50, a lifting seat drive cylinder 46, a first screw drive motor 37, a second screw drive motor 40, a third screw drive motor 44, two first slider drive cylinders 33, two second slider drive cylinders 34, two push block drive cylinders 20, two first bend pipe outer push cylinders 14, two second bend pipe outer push cylinders 15, and two visual recognition cameras 51 are all electrically connected to the controller 52. In the present invention, the controller 52 adopts the HD64F36109HV model single-chip microcomputer of Renesas Corporation.

[0044] Embodiment 2: The method of the thermal pipeline welding clamping device specifically comprises the following steps: S1. Workers use lifting equipment to place the curved pipe 11 to the installation position, place the first straight pipe 7 along the X-axis to one end of the curved pipe 11, place the first straight pipe 7 along the Y-axis to the other end of the curved pipe 11, draw a line along the X-axis direction at the top of the first straight pipe 7 to obtain a first auxiliary line 53, draw a line along the Y-axis direction at the top of the second straight pipe 8 to obtain a second auxiliary line 54, and draw a line between the auxiliary point A in the middle of the inner side of the curved pipe 11 and the auxiliary point B in the middle of the outer side of the curved pipe 11 to obtain a third auxiliary line 55.

[0045] S2. After the mounting frame 1 is installed on the wrist of the boom, the boom moves the device to the top of the curved pipe 11, and obtains the position information of the first auxiliary line 53 and the third auxiliary line 55 and the diameter of the first straight pipe 7 through the position recognition component. At this time, the two first clamps 5 are located below the flip seat and are in an open state, the first straight pipe 7 is located between the two first clamps 5, the two first curved pipe outer pushing cylinders 14 are located on the outside of the curved pipe 11, and the first inner limiting shaft 12 is located on the inner side of the curved pipe 11.

[0046] S3, the flip frame 4 moves down, the two first clamps 5 move down to the two sides of the first straight tube 7, and clamp the first straight tube 7, the arc-shaped top plate 22 presses against the top of the first straight tube 7, and according to the diameter of the first straight tube 7, the first inner limiting shaft 12 moves toward the direction close to the curved tube 11 to limit the inner side of the curved tube 11, and the piston rod of the two first curved tube outer sides push the cylinder 14 to extend toward the direction close to the curved tube 11, so that the inner side of the curved tube 11 presses against the first inner limiting shaft 12.

[0047] S4. The two outer pushing cylinders 14 of the first curved pipes push the skewed end of the curved pipe 11 until the position recognition component recognizes that the angle between the first auxiliary line 53 and the third auxiliary line 55 is 45 degrees, that is, the end of the curved pipe 11 in the first pipeline alignment area 2 is aligned with the end of the first straight pipe 7.

[0048] S5, the first sliding block 9 moves toward the direction close to the curved pipe 11, and the end face of the first straight pipe 7 is close to the end face of the curved pipe 11 in the first pipe alignment area 2, waiting for welding. After welding is completed, the two first clamps 5 release the first straight pipe 7, and the two first curved pipe outer side pushing cylinders 14 and the first inner side limiting shaft 12 release the limit on the curved pipe 11, and then the flip frame 4 moves upward along the Z axis, and then flips 180 degrees. After flipping, the second inner side limiting shaft 13, the two second curved pipe outer side pushing cylinders 15 and the two second clamps 6 are all located below the flip frame 4, and the two second clamps 6 are in an open state.

[0049] S6. The position information of the second auxiliary line 54 and the third auxiliary line 55 and the diameter of the second straight tube 8 are obtained through the position identification component. The turning frame 4 moves along the Y-axis direction, and the two second clamps 6 move to both sides of the second straight tube 8. The two second curved tube outer pushing cylinders 15 are located on the outside of the curved tube 11, and the second inner limit shaft 13 is located on the inner side of the curved tube 11.

[0050] S7, the flip frame 4 moves downward, the two second clamps 6 move to the two sides of the second straight tube 8, and clamp the second straight tube 8, the arc-shaped top plate 22 rests on the top of the second straight tube 8, and the second inner limiting shaft 13 moves toward the direction close to the curved tube 11 according to the diameter of the second straight tube 8, and is used to limit the inner side of the curved tube 11. The two outer sides of the second curved tubes push the piston rod of the cylinder 15 to extend toward the direction close to the curved tube 11, and the inner side of the curved tube 11 rests against the second inner limiting shaft 13.

[0051] S8. The two outer pushing cylinders 15 of the second curved pipes push the skewed end of the curved pipe 11 until the position recognition component recognizes that the angle between the second auxiliary line 54 and the third auxiliary line 55 is 45 degrees, thereby realizing that the end of the curved pipe 11 in the second pipeline alignment area 3 is aligned with the end of the second straight pipe 8.

[0052] S9, the second sliding block 10 moves toward the direction close to the bent pipe 11, and the end face of the second straight pipe 8 is close to the end face of the bent pipe 11 in the second pipe alignment area 3, waiting for welding. After the welding is completed, the two second clamping jaws 6 release the second straight pipe 8, and the two second bent pipe outer side pushing cylinders 15 and the second inner side limiting shafts 13 release the limit on the bent pipe 11, and then the flip frame 4 is reset to prepare for the next auxiliary bent pipe 11 welding.

[0053] In summary, the present invention realizes the automatic clamping and alignment of the bent pipe, the first straight pipe and the second straight pipe at the pipeline installation position through the cooperation of the position identification component, the straight pipe clamping component and the bent pipe alignment component, avoids repeated lifting and transportation of the pipeline, and improves the docking efficiency of the thermal pipeline.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A thermal pipeline welding clamping device, comprising a mounting frame, characterized in that: The mounting frame is provided with a flip frame for switching between the first pipe alignment area and the second pipe alignment area, the mounting frame is provided with a flip frame driving assembly, the flip frame driving assembly is used to drive the flip frame to move in the Z and Y axis directions and flip along the X axis direction, and the flip frame is provided with a straight pipe clamping assembly and a bent pipe alignment assembly; The bent pipe alignment assembly comprises a first inner limiting shaft and a second inner limiting shaft for alternately limiting the inner side of the bent pipe, the first inner limiting shaft and the second inner limiting shaft are slidably mounted on the bottom and the top of the flip frame respectively, the bottom of the flip frame is fixedly mounted with two first bent pipe outer side pushing cylinders for adjusting the placement angle of the bent pipe after the first inner limiting shaft is limited, and the top of the flip frame is fixedly mounted with two second bent pipe outer side pushing cylinders for adjusting the placement angle of the bent pipe after the second inner limiting shaft is limited; The turning frame is also provided with a position identification component for obtaining information of the first straight tube, the second straight tube and the bent tube.

2. The thermal pipeline welding clamping device according to claim 1 is characterized in that: The straight pipe clamping assembly includes two first clamping jaws and two second clamping jaws, the two first clamping jaws are used to clamp the first straight pipe arranged in the first pipe alignment area along the X-axis, and the two second clamping jaws are used to clamp the second straight pipe arranged in the second pipe alignment area along the Y-axis. A first sliding block is slidably installed on the flip frame along the X-axis direction, the two first clamping jaws are hinged on the first sliding block and are arranged below the flip frame, and a second sliding block is slidably installed on the flip frame along the Y-axis direction, and the two second clamping jaws are hinged on the second sliding block and are arranged above the flip frame.

3. The thermal pipeline welding clamping device according to claim 2 is characterized in that: The two first clamps are symmetrically arranged along the X-axis, and the two second clamps are symmetrically arranged along the Y-axis. The first clamp and the second clamp are both hingedly connected to a guide wheel at one end close to the flip frame, and the first clamp and the second clamp are both fixedly installed with an arc-shaped clamping plate at one end away from the flip frame.

4. The thermal pipeline welding clamping device according to claim 3 is characterized in that: A clamping jaw driving device is provided on the first slider and the second slider, and each of the clamping jaw driving devices includes a pushing block. A sliding groove is provided on the first slider and the second slider along the Z-axis direction, and each of the pushing blocks is slidably installed in the corresponding sliding groove. A pushing block driving cylinder is fixedly installed on the first slider and the second slider, and the piston rod of each pushing block driving cylinder is fixedly connected to the corresponding pushing block. Two guide inclined surfaces are symmetrically provided on each pushing block, and each guide wheel rests on the corresponding guide inclined surface.

5. The thermal pipeline welding clamping device according to claim 4 is characterized in that: An arc-shaped supporting plate is respectively arranged between the two first clamping jaws and between the two second clamping jaws. The two arc-shaped supporting plates are respectively fixedly mounted on the corresponding pushing blocks and symmetrically arranged on both sides of the flip frame.

6. The thermal pipeline welding clamping device according to claim 3 is characterized in that: A hinge shaft is arranged between the two first clamping jaws and the first sliding block, and between the two second clamping jaws and the second sliding block. Each hinge shaft is arranged between the corresponding guide wheel and the corresponding arc-shaped clamping plate. A torsion spring is arranged between each first clamping jaw, each second clamping jaw and the corresponding hinge shaft to move the corresponding arc-shaped clamping plate outward.

7. The thermal pipeline welding clamping device according to claim 1 is characterized in that: A first slide rail is fixedly installed on the bottom of the flip frame, and the angle between the first slide rail and the X-axis is 45 degrees. The first inner limit shaft arranged along the Z-axis is slidably installed on the first slide rail, and a first limit shaft screw nut driving mechanism is arranged between the first inner limit shaft and the flip frame. A second slide rail is fixedly installed on the top of the flip frame, and the angle between the second slide rail and the Y-axis is 45 degrees. The second inner limit shaft arranged along the Z-axis is slidably installed on the second slide rail, and a second limit shaft screw nut driving mechanism is arranged between the second inner limit shaft and the flip frame, and limiting ring grooves are provided on the outer circumferential surfaces of the first inner limit shaft and the second inner limit shaft.

8. The thermal pipeline welding clamping device according to claim 7 is characterized in that: The two first curved pipe outer side pushing cylinders are symmetrically arranged on both sides of the first slide rail, and the two second curved pipe outer side pushing cylinders are symmetrically arranged on both sides of the second slide rail.

9. The thermal pipeline welding clamping device according to claim 1, characterized in that: The flip frame driving assembly includes a sliding seat on the mounting frame along the Y-axis direction, a lifting seat is slidably mounted on the sliding seat along the Z-axis direction, a rotating shaft arranged along the X-axis is fixedly mounted on the flip frame, and the rotating shaft is rotatably mounted on the lifting seat.

10. The method for welding and clamping a thermal pipeline according to any one of claims 1 to 9, characterized in that: The specific steps include: S1. Place the first straight pipe, the second straight pipe and the curved pipe at the position to be installed, draw lines on the first straight pipe, the second straight pipe and the curved pipe to obtain a first auxiliary line, a second auxiliary line and a third auxiliary line respectively, and obtain position information of the first auxiliary line, the second auxiliary line and the third auxiliary line through the position recognition component; S2, the flip frame moves downward, the straight tube clamping assembly clamps the first straight tube, and according to the diameter of the first straight tube, the first inner limit axis moves toward the direction of the bent tube, and the two outer push cylinders of the first bent tube push the inner side of the bent tube against the first inner limit axis; S3, the outer pushing cylinder of the first curved pipe pushes the skewed end of the curved pipe until the position recognition component recognizes that the angle between the first auxiliary line and the third auxiliary line is 45 degrees, that is, the curved pipe is aligned with the first straight pipe; S4, the straight tube clamping assembly clamps and moves the first straight tube close to the bent tube, waiting for welding, and after welding is completed, loosens the first straight tube and the bent tube, the flip frame moves up and flips 180 degrees, and then moves down, the straight tube clamping assembly clamps the second straight tube, and according to the diameter of the second straight tube, the second inner limit axis moves in a direction close to the bent tube, and the two outer push cylinders of the second bent tube push the inner side of the bent tube against the second side limit axis; S5, the outer pushing cylinder of the second curved pipe pushes the skewed end of the curved pipe until the position recognition component recognizes that the angle between the second auxiliary line and the third auxiliary line is 45 degrees, that is, the curved pipe is aligned with the second straight pipe; S6, the straight pipe clamping assembly clamps and moves the second straight pipe close to the bent pipe, waiting for welding. After welding is completed, the flip frame is reset to prepare for the next bent pipe welding clamping.

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