Thermal pipeline welding clamping device and method thereof

Abstract

The present invention provides a welding clamping device and method for a thermal pipeline, which relates to the technical field of pipeline welding. The device includes a mounting frame, on which a flipping frame and a flipping frame driving assembly are arranged. A straight pipe clamping assembly, a bent pipe alignment assembly and a position recognition assembly are arranged on the flipping frame. The bent pipe alignment assembly includes a first inner limiting shaft, a second inner limiting shaft, two first outer pushing cylinders for the bent pipe and two second outer pushing cylinders for the bent pipe. Through the cooperation of the position recognition assembly, the straight pipe clamping assembly and the bent pipe alignment assembly, 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, avoids the repeated hoisting and handling of the pipeline, and improves the docking efficiency of the thermal pipeline.

Description

Technical Field

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

[0002] During the installation of thermal pipelines, when the pipeline needs to be redirected according to the pipeline laying requirements, the straight pipe and the elbow pipe need to be welded. The elbow pipe is 90 degrees, and a pipeline welding clamping device is required. The existing pipeline welding clamping device includes two clamping frames respectively used for synchronously clamping the elbow pipe and the straight pipe. During the use of the pipeline welding clamping device, workers need to manually or through a hoisting device install the elbow pipe and the straight pipe on the two clamping frames, weld them after clamping and aligning, and after welding, the pipeline also needs to be hoisted and transported to the pipeline installation position. Therefore, the existing pipeline welding clamping device is only suitable for pipelines with small sizes and easy to handle, and cannot adapt to the existing pipeline welding clamping device for large-sized thermal pipelines that are not easy to hoist and transport repeatedly, resulting in low docking efficiency of thermal pipelines, and the existing pipeline welding clamping device cannot realize the automatic alignment of the elbow pipe with two straight pipes at the installation position.

[0003] Therefore, a welding clamping device and method for a thermal pipeline that solves the above problems are needed. Summary of the Invention

[0004] The present invention provides a welding clamping device and method for a thermal pipeline. Through the cooperation of a position recognition component, a straight pipe clamping component, and an elbow pipe alignment component, the automatic clamping and alignment of the elbow pipe, the first straight pipe, and the second straight pipe at the pipeline installation position are realized, avoiding the repeated hoisting and transportation of the pipeline, and improving the docking efficiency of the thermal pipeline.

[0005] The technical solution of the present invention is realized as follows:

[0006] A welding clamping device for a thermal pipeline, including a mounting frame, a turning frame for switching between a first pipeline alignment area and a second pipeline alignment area is provided on the mounting frame, a turning frame driving component is provided on the mounting frame, the turning frame driving component is used to drive the turning frame to move in the Z and Y axis directions and flip along the X axis, and a straight pipe clamping component and an elbow pipe alignment component are provided on the turning frame;

[0007] The elbow alignment assembly includes a first inner limiting shaft and a second inner limiting shaft for alternately limiting the inner side of the elbow. The first inner limiting shaft and the second inner limiting shaft are respectively slidably installed at the bottom and top of the flipping frame. Two first elbow outer pushing cylinders for adjusting the placement angle of the elbow after the first inner limiting shaft limits are fixedly installed at the bottom of the flipping frame. Two second elbow outer pushing cylinders for adjusting the placement angle of the elbow after the second inner limiting shaft limits are fixedly installed at the top of the flipping frame;

[0008] A position recognition assembly for obtaining information on the first straight pipe, the second straight pipe, and the elbow is further provided on the flipping frame.

[0009] As a preferred technical solution, the straight pipe clamping assembly includes two first clamping jaws and two second clamping jaws. The two first clamping jaws are used for clamping the first straight pipe arranged along the X-axis in the first pipe alignment area. The two second clamping jaws are used for clamping the second straight pipe arranged along the Y-axis in the second pipe alignment area. A first sliding block is slidably installed on the flipping frame along the X-axis direction. The two first clamping jaws are hinged to the first sliding block and arranged below the flipping frame. A second sliding block is slidably installed on the flipping frame along the Y-axis direction. The two second clamping jaws are hinged to the second sliding block and arranged above the flipping frame.

[0010] As a preferred technical solution, the two first clamping jaws are symmetrically arranged along the X-axis, and the two second clamping jaws are symmetrically arranged along the Y-axis. A guide wheel is hinged to one end of each of the first clamping jaws and the second clamping jaws close to the flipping frame. An arc-shaped clamping plate is fixedly installed at one end of each of the first clamping jaws and the second clamping jaws far from the flipping frame.

[0011] As a preferred technical solution, a clamping jaw driving device is provided on each of the first sliding block and the second sliding block. Each clamping jaw driving device includes a pushing block. A chute is arranged on each of the first sliding block and the second sliding block along the Z-axis direction. Each pushing block is slidably installed in the corresponding chute. A pushing block driving cylinder is fixedly installed on each of the first sliding block and the second sliding block. The piston rod of each pushing block driving cylinder is fixedly connected to the corresponding pushing block. Two guide inclined surfaces are symmetrically arranged on each pushing block. Each guide wheel abuts against the corresponding guide inclined surface.

[0012] As a preferred technical solution, an arc-shaped abutting plate is respectively arranged between the two first clamping jaws and between the two second clamping jaws. The two arc-shaped abutting plates are respectively fixedly installed on the corresponding pushing blocks and symmetrically arranged on both sides of the flipping frame.

[0013] As a preferred technical solution, a hinge shaft is provided between the two first jaws and the first sliding block, and between the two second jaws and the second sliding block. Each hinge shaft is disposed between the corresponding guide wheel and the corresponding arc-shaped clamping plate. A torsion spring for moving the corresponding arc-shaped clamping plate outward is provided between each first jaw, each second jaw and the corresponding hinge shaft.

[0014] As a preferred technical solution, a first slide rail is fixedly installed at the bottom of the turning frame. The included angle between the first slide rail and the X-axis is 45 degrees. The first inner limiting shaft arranged along the Z-axis is slidably installed on the first slide rail. A first limiting shaft lead screw nut driving mechanism is provided between the first inner limiting shaft and the turning frame. A second slide rail is fixedly installed at the top of the turning frame. The included angle between the second slide rail and the Y-axis is 45 degrees. The second inner limiting shaft arranged along the Z-axis is slidably installed on the second slide rail. A second limiting shaft lead screw nut driving mechanism is provided between the second inner limiting shaft and the turning frame. Limiting ring grooves are provided on the outer peripheral surfaces of the first inner limiting shaft and the second inner limiting shaft.

[0015] As a preferred technical solution, two first elbow outer pushing cylinders are symmetrically arranged on both sides of the first slide rail, and two second elbow outer pushing cylinders are symmetrically arranged on both sides of the second slide rail.

[0016] As a preferred technical solution, the turning frame driving assembly includes a sliding seat on the mounting frame along the Y-axis direction. A lifting seat is slidably installed on the sliding seat along the Z-axis direction. A rotating shaft arranged along the X-axis is fixedly installed on the turning frame. The rotating shaft is rotatably installed on the lifting seat.

[0017] The method for the welding clamping device of the heat pipeline specifically includes the following steps:

[0018] S1. Place the first straight pipe, the second straight pipe and the elbow at the to-be-installed position, draw first auxiliary lines, second auxiliary lines and third auxiliary lines on the first straight pipe, the second straight pipe and the elbow respectively, and obtain the position information of the first auxiliary line, the second auxiliary line and the third auxiliary line through the position recognition component;

[0019] S2. The turning frame moves downward, the straight pipe clamping component clamps the first straight pipe. According to the diameter of the first straight pipe, the first inner limiting shaft moves towards the direction close to the elbow, and the two first elbow outer pushing cylinders abut the inner side of the elbow against the first inner limiting shaft;

[0020] S3. The push cylinder on the outer side of the first elbow pushes the skewed end of the elbow until the position recognition component recognizes that the included angle between the first auxiliary line and the third auxiliary line is 45 degrees, which realizes the alignment of the elbow and the first straight pipe.

[0021] S4. The straight pipe clamping component clamps and moves the first straight pipe close to the elbow and waits for welding. After welding is completed, the first straight pipe and the elbow are released. The flipping frame moves up and then flips 180 degrees, and then moves down. The straight pipe clamping component clamps the second straight pipe. According to the diameter of the second straight pipe, the second inner limiting shaft moves axially in the direction close to the elbow. The two push cylinders on the outer sides of the second elbows abut the inner side of the elbow against the second inner limiting shaft.

[0022] S5. The push cylinder on the outer side of the second elbow pushes the skewed end of the elbow until the position recognition component recognizes that the included angle between the second auxiliary line and the third auxiliary line is 45 degrees, which realizes the alignment of the elbow and the second straight pipe.

[0023] S6. The straight pipe clamping component clamps and moves the second straight pipe close to the elbow and waits for welding. After welding is completed, the flipping frame resets to prepare for clamping the next elbow for welding.

[0024] Adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0025] Since the thermal pipeline welding clamping device includes a flipping frame, during the use of the device, the elbow, the first straight pipe and the second straight pipe are placed at the pipeline installation position. When the first inner limiting shaft, the two push cylinders on the outer sides of the first elbows and the two first clamping jaws are located below the flipping frame, the straight pipe clamping component clamps the first straight pipe. At the same time, the first inner limiting shaft limits the inner side of the elbow. After the inner side of the elbow is limited, the two push cylinders on the outer sides of the first elbows cooperate with the position recognition component to push the outer side of the elbow, so as to adjust the placement angle of the elbow, and further make the end of the elbow in the first pipeline alignment area align with the end of the first straight pipe.

[0026] After the elbow and the first straight pipe are welded, the flipping frame rises and flips 180 degrees. The second inner limiting shaft, the two push cylinders on the outer sides of the second elbows and the two second clamping jaws are located below the flipping frame. The straight pipe clamping component clamps the second straight pipe. The second inner limiting shaft limits the inner side of the elbow. The two push cylinders on the outer sides of the second elbows push the outer side of the elbow, so as to straighten the elbow, and further make the end of the elbow in the second pipeline alignment area align with the end of the second straight pipe, thus realizing the alignment of the two ends of the elbow with the first straight pipe and the second straight pipe respectively.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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

[0031] 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.

[0032] Figure 1 It is a structural schematic diagram of the present invention;

[0033] Figure 2 is a top view of the flip frame;

[0034] Figure 3 is a bottom view of the flip frame;

[0035] Figure 4 Top view of the first sliding block;

[0036] Figure 5 Reference diagram of the state where two first clamping jaws clamp the first straight pipe;

[0037] Figure 6 Reference diagram of the state when two first clamping jaws are opened;

[0038] Figure 7 Reference diagram of the state for aligning the elbow pipe and the first straight pipe in the first pipe alignment area;

[0039] Figure 8 Reference diagram of the state for aligning the elbow pipe and the second straight pipe in the second pipe alignment area;

[0040] Figure 9 System structure block diagram of the controller.

[0041] Among them: 1. Mounting frame; 2. First pipe alignment area; 3. Second pipe alignment area; 4. Flipping 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. Elbow pipe; 12. First inner limiting shaft; 13. Second inner limiting shaft; 14. First outer pushing cylinder for elbow pipe; 15. Second outer pushing cylinder for elbow pipe; 16. Guide wheel; 17. Arc-shaped clamping plate; 18. Pushing block; 19. Slide groove; 20. Pushing block driving cylinder; 21. Guide inclined plane; 22. Arc-shaped top plate; 23. Hinge shaft; 24. Torsion spring; 25. First slide rail; 26. Second slide rail; 27. Limiting ring groove; 28. Slide seat; 29. Lifting seat; 30. Rotating shaft; 31. First guiding column; 32. Second guiding column; 33. First slider driving cylinder; 34. Second slider driving cylinder; 35. First limiting shaft driving lead screw; 36. First limiting shaft driving nut; 37. First lead screw driving motor; 38. Second limiting shaft driving lead screw; 39. Second limiting shaft driving nut; 40. Second lead screw driving motor; 41. Third slide rail; 42. Slide seat driving lead screw; 43. Slide seat driving nut; 44. Third lead screw driving motor; 45. Fourth slide rail; 46. Lifting seat driving cylinder; 47. First synchronous pulley; 48. Second synchronous pulley; 49. Synchronous belt; 50. Belt driving motor; 51. Vision recognition camera; 52. Controller; 53. First auxiliary line; 54. Second auxiliary line; 55. Third auxiliary line. Specific implementation method

[0042] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] Embodiment 1:

[0044] As Figures 1-9 collectively shown, a welding clamping device for a thermal pipeline includes a mounting frame 1. A flipping frame 4 for switching between a first pipeline alignment area 2 and a second pipeline alignment area 3 is arranged on the mounting frame 1. A flipping frame driving assembly is arranged on the mounting frame 1, and the flipping frame driving assembly is used to drive the flipping frame 4 to move in the Z and Y axis directions and flip along the X axis. A straight pipe clamping assembly and a bent pipe alignment assembly are arranged on the flipping frame 4.

[0045] The bent pipe alignment assembly includes a first inner limiting shaft 12 and a second inner limiting shaft 13 for alternately limiting the inner side of the bent pipe 11. The first inner limiting shaft 12 and the second inner limiting shaft 13 are respectively slidably installed at the bottom and top of the flipping frame 4. Two first bent pipe outer pushing cylinders 14 for adjusting the placement angle of the bent pipe 11 after the first inner limiting shaft 12 limits are fixedly installed at the bottom of the flipping frame 4. Two second bent pipe outer pushing cylinders 15 for adjusting the placement angle of the bent pipe 11 after the second inner limiting shaft 13 limits are fixedly installed at the top of the flipping frame 4.

[0046] A position recognition assembly for obtaining information of the bent pipe 11, the first straight pipe 7, and the second straight pipe 8 is also arranged on the flipping frame 4.

[0047] 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 the first straight pipe 7 arranged along the X axis in the first pipeline alignment area 2, and the two second clamping jaws 6 are used to clamp the second straight pipe 8 arranged along the Y axis in the second pipeline alignment area 3. A first sliding block 9 is slidably installed on the flipping frame 4 along the X axis direction. The two first clamping jaws 5 are hinged to the first sliding block 9 and arranged below the flipping frame 4. A second sliding block 10 is slidably installed on the flipping frame 4 along the Y axis direction. The two second clamping jaws 6 are hinged to the second sliding block 10 and arranged above the flipping frame 4.

[0048] As Figures 2-6 collectively shown, the two first clamping jaws 5 are symmetrically arranged along the X axis, the two second clamping jaws 6 are symmetrically arranged along the Y axis. A guide wheel 16 is hinged to one end of each of the first clamping jaws 5 and the second clamping jaws 6 close to the flipping frame 4, and an arc-shaped clamping plate 17 is fixedly installed at one end of each of the first clamping jaws 5 and the second clamping jaws 6 far from the flipping frame 4.

[0049] A jaw driving device is provided on each of the first sliding block 9 and the second sliding block 10. Each jaw driving device includes a pushing block 18. A chute 19 is provided on each of 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 chute 19. A pushing block driving cylinder 20 is fixedly installed on each of 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 arranged on each pushing block 18, and each guiding wheel 16 abuts against the corresponding guiding inclined surface 21.

[0050] As Figure 1 and Figure 5 As shown jointly, an arc-shaped abutting plate 22 is respectively arranged between the two first jaws 5 and between the two second jaws 6. The two arc-shaped abutting plates 22 are respectively fixedly installed on the corresponding pushing blocks 18 and are symmetrically arranged on both sides of the flipping frame 4.

[0051] A hinge shaft 23 is arranged between the two first jaws 5 and the first sliding block 9, and between the two second jaws 6 and the second sliding block 10. Each hinge shaft 23 is arranged between the corresponding guiding wheel 16 and the corresponding arc-shaped clamping plate 17. A torsion spring 24 for moving the corresponding arc-shaped clamping plate 17 outward is arranged between each first jaw 5, each second jaw 6 and the corresponding hinge shaft 23.

[0052] The bottom of the flipping frame 4 is fixedly installed with a first sliding rail 25. The included angle between the first sliding rail 25 and the X-axis is 45 degrees. A first inner limiting shaft 12 arranged along the Z-axis is slidably installed on the first sliding rail 25. A first limiting shaft lead screw nut driving mechanism is arranged between the first inner limiting shaft 12 and the flipping frame 4. The top of the flipping frame 4 is fixedly installed with a second sliding rail 26. The included angle between the second sliding rail 26 and the Y-axis is 45 degrees. A second inner limiting shaft 13 arranged along the Z-axis is slidably installed on the second sliding rail 26. A second limiting shaft lead screw nut driving mechanism is arranged between the second inner limiting shaft 13 and the flipping frame 4. Limiting ring grooves 27 are arranged on the outer peripheral surfaces of the first inner limiting shaft 12 and the second inner limiting shaft 13.

[0053] As Figure 2 and Figure 3 As shown jointly, two first outer pushing cylinders 14 for the bent pipes are symmetrically arranged on both sides of the first sliding rail 25, and two second outer pushing cylinders 15 for the bent pipes are symmetrically arranged on both sides of the second sliding rail 26.

[0054] The flipping frame driving assembly includes a sliding seat 28 installed on the mounting frame 1 along the Y-axis direction. A lifting seat 29 is slidably installed on the sliding seat 28 along the Z-axis direction. A rotating shaft 30 arranged along the X-axis is fixedly installed on the flipping frame 4. The rotating shaft 30 is rotatably installed on the lifting seat 29.

[0055] 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 turnover 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 turnover 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.

[0056] The first limit shaft screw-nut driving mechanism includes a first limit shaft driving screw rod 35 rotatably installed at the bottom of the turnover frame 4. A first limit shaft driving nut 36 is threadedly installed on the first limit shaft driving screw rod 35. The first limit shaft driving nut 36 is connected to the first inner limit shaft 12. A first screw rod driving motor 37 is fixedly installed at the bottom of the turnover frame 4. The first screw rod driving motor 37 is in transmission connection with the first limit shaft driving screw rod 35.

[0057] The second limit shaft screw-nut driving mechanism includes a second limit shaft driving screw rod 38 rotatably installed at the bottom of the turnover frame 4. A second limit shaft driving nut 39 is threadedly installed on the second limit shaft driving screw rod 38. The second limit shaft driving nut 39 is connected to the second inner limit shaft 13. A second screw rod driving motor 40 is fixedly installed at the top of the turnover frame 4. The second screw rod driving motor 40 is in transmission connection with the second limit shaft driving screw rod 38.

[0058] A pair of third slide rails 41 arranged along the Y-axis are fixedly installed on the mounting frame 1. The sliding seat 28 is slidably installed on the two third slide rails 41. A sliding seat driving screw rod 42 is rotatably installed on the mounting frame 1. The sliding seat driving screw rod 42 is arranged along the Y-axis. A sliding seat driving nut 43 is threadedly installed on the sliding seat driving screw rod 42. The sliding seat driving nut 43 is fixedly connected to the sliding seat 28. A third screw rod driving motor 44 is fixedly installed on the mounting frame 1. The third screw rod driving motor 44 is in transmission connection with the sliding seat driving screw rod 42.

[0059] A pair of fourth slide rails 45 arranged along the Z-axis are fixedly installed on the sliding seat 28. The lifting seat 29 is slidably installed on the two fourth slide rails 45. A lifting seat driving cylinder 46 is fixedly installed between the sliding seat 28 and the lifting seat 29.

[0060] A first synchronous pulley 47 is fixedly installed on the rotating shaft 30. A second synchronous pulley 48 is rotatably installed on the lifting seat 29. A synchronous belt 49 is wound between the first synchronous pulley 47 and the second synchronous pulley 48. A belt wheel driving motor 50 is fixedly installed on the lifting seat 29. The belt wheel driving motor 50 is in transmission connection with the second synchronous pulley 48.

[0061] The position recognition component includes two visual recognition cameras 51 fixedly installed at the top and bottom of the flipping frame 4 respectively.

[0062] It also includes a controller 52, a belt-driven motor 50, a lifting seat driving cylinder 46, a first lead screw driving motor 37, a second lead screw driving motor 40, a third lead screw driving motor 44, two first slider driving cylinders 33, two second slider driving cylinders 34, two push block driving cylinders 20, two first elbow outer side pushing cylinders 14, two second elbow outer side pushing cylinders 15, and two visual recognition cameras 51 are all electrically connected to the controller 52. In the present invention, the controller 52 uses a single-chip microcomputer of the HD64F36109HV model of Renesas Corporation.

[0063] Embodiment 2:

[0064] A method for a thermal pipeline welding clamping device specifically includes the following steps:

[0065] S1. The worker places the elbow 11 at the to-be-installed position through a hoisting device, places the first straight pipe 7 along the X-axis at one end of the elbow 11, places the first straight pipe 7 along the Y-axis at the other end of the elbow 11, draws a first auxiliary line 53 along the X-axis direction on the top of the first straight pipe 7, draws a second auxiliary line 54 along the Y-axis direction on the top of the second straight pipe 8, and draws a third auxiliary line 55 between the auxiliary point A in the middle of the inner side of the elbow 11 and the auxiliary point B in the middle of the outer side of the elbow 11.

[0066] S2. After the mounting frame 1 is installed on the wrist of the jib, the jib moves the device above the elbow 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 jaws 5 are located below the flipping seat and in the open state, the first straight pipe 7 is located between the two first jaws 5, the two first elbow outer side pushing cylinders 14 are located on the outer side of the elbow 11, and the first inner limiting shaft 12 is located on the inner side of the elbow 11.

[0067] S3. The flipping frame 4 moves downward, the two first jaws 5 move downward to both sides of the first straight pipe 7 and clamp the first straight pipe 7, the arc-shaped top plate 22 abuts against the top of the first straight pipe 7, according to the diameter of the first straight pipe 7, the first inner limiting shaft 12 moves towards the direction close to the elbow 11 for limiting the inner side of the elbow 11, and the piston rods of the two first elbow outer side pushing cylinders 14 extend towards the direction close to the elbow 11 to abut the inner side of the elbow 11 against the first inner limiting shaft 12.

[0068] S4. The two outer pushing cylinders 14 of the first elbow push the skew end of the elbow 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 alignment of the end of the elbow 11 in the first pipeline alignment area 2 with the end of the first straight pipe 7 is achieved.

[0069] S5. The first sliding block 9 moves towards the elbow 11, the end face of the first straight pipe 7 approaches the end face of the elbow 11 in the first pipeline alignment area 2, waiting for welding. After welding is completed, the two first clamping jaws 5 release the first straight pipe 7, and the two outer pushing cylinders 14 of the first elbow and the first inner limiting shaft 12 release the limit on the elbow 11. Then the flipping frame 4 moves upward along the Z axis and then flips 180 degrees. After flipping, the second inner limiting shaft 13, the two outer pushing cylinders 15 of the second elbow and the two second clamping jaws 6 are all located below the flipping frame 4, and the two second clamping jaws 6 are in the open state.

[0070] S6. Obtain the position information of the second auxiliary line 54 and the third auxiliary line 55 and the diameter of the second straight pipe 8 through the position recognition component. The flipping frame 4 moves along the Y-axis direction, the two second clamping jaws 6 move to both sides of the second straight pipe 8, the two outer pushing cylinders 15 of the second elbow are located outside the elbow 11, and the second inner limiting shaft 13 is located inside the elbow 11.

[0071] S7. The flipping frame 4 moves downward, the two second clamping jaws 6 move to both sides of the second straight pipe 8 and clamp the second straight pipe 8. The arc-shaped top plate 22 abuts against the top of the second straight pipe 8. According to the diameter of the second straight pipe 8, the second inner limiting shaft 13 moves towards the elbow 11 to limit the inside of the elbow 11. The piston rods of the two outer pushing cylinders 15 of the second elbow extend towards the elbow 11, and the inside of the elbow 11 is abutted against the second inner limiting shaft 13.

[0072] S8. The two outer pushing cylinders 15 of the second elbow push the skew end of the elbow 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, that is, the alignment of the end of the elbow 11 in the second pipeline alignment area 3 with the end of the second straight pipe 8 is achieved.

[0073] S9. The second sliding block 10 moves towards the elbow 11, the end face of the second straight pipe 8 approaches the end face of the elbow 11 in the second pipeline alignment area 3, waiting for welding. After welding is completed, the two second clamping jaws 6 release the second straight pipe 8, and the two outer pushing cylinders 15 of the second elbow and the second inner limiting shaft 13 release the limit on the elbow 11. Then the flipping frame 4 resets to prepare for the next auxiliary welding of the elbow 11.

[0074] In summary, through the cooperation of the position recognition component, the straight pipe clamping component, and the elbow alignment component, the present invention realizes the automatic clamping and alignment of the elbow, the first straight pipe, and the second straight pipe at the pipeline installation position, avoids the repeated hoisting and handling of the pipeline, and improves the docking efficiency of the thermal pipeline.

[0075] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A welding clamping device for a thermal pipeline, comprising a mounting frame, characterized in that, A turning frame for switching between a first pipe alignment area and a second pipe alignment area is provided on the mounting frame. A turning frame driving assembly is provided on the mounting frame, and the turning frame driving assembly is used to drive the turning frame to move in the Z and Y axis directions and flip along the X axis. A straight pipe clamping assembly and a bent pipe alignment assembly are provided on the turning frame; The bent pipe alignment assembly includes 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 respectively slidably installed at the bottom and top of the turning frame. Two first bent pipe outer pushing cylinders for adjusting the placement angle of the bent pipe after the first inner limiting shaft limits are fixedly installed at the bottom of the turning frame. Two second bent pipe outer pushing cylinders for adjusting the placement angle of the bent pipe after the second inner limiting shaft limits are fixedly installed at the top of the turning frame; A position recognition component for obtaining information of the first straight pipe, the second straight pipe, and the bent pipe is further provided on the turning frame; 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 along the X axis in the first pipe alignment area, and the two second clamping jaws are used to clamp the second straight pipe arranged along the Y axis in the second pipe alignment area. A first sliding block is slidably installed on the turning frame along the X axis direction. The two first clamping jaws are hinged to the first sliding block and arranged below the turning frame. A second sliding block is slidably installed on the turning frame along the Y axis direction. The two second clamping jaws are hinged to the second sliding block and arranged above the turning frame.

2. The welding clamping device for a thermal pipeline according to claim 1, wherein The two first clamping jaws are symmetrically arranged along the X axis, and the two second clamping jaws are symmetrically arranged along the Y axis. A guide wheel is hinged to one end of each of the first clamping jaw and the second clamping jaw close to the turning frame, and an arc-shaped clamping plate is fixedly installed at one end of each of the first clamping jaw and the second clamping jaw far from the turning frame.

3. The welding clamping device for a thermal pipeline according to claim 2, wherein, A clamping jaw driving device is provided on each of the first sliding block and the second sliding block. Each clamping jaw driving device includes a pushing block. A chute is arranged on each of the first sliding block and the second sliding block along the Z axis direction. Each pushing block is slidably installed in the corresponding chute. A pushing block driving cylinder is fixedly installed on each of the first sliding block and the second sliding block. The piston rod of each pushing block driving cylinder is fixedly connected to the corresponding pushing block. Two guide inclined surfaces are symmetrically arranged on each pushing block, and each guide wheel abuts against the corresponding guide inclined surface.

4. The welding clamping device for a thermal pipeline according to claim 3, wherein, An arc-shaped top plate is respectively arranged between the two first clamping jaws and between the two second clamping jaws. The two arc-shaped top plates are respectively fixedly installed on the corresponding pushing blocks and symmetrically arranged on both sides of the turning frame.

5. The welding clamping device for a thermal pipeline according to claim 2, wherein A hinge shaft is provided 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 disposed between the corresponding guide wheel and the corresponding arc-shaped clamping plate. A torsion spring for moving the corresponding arc-shaped clamping plate outward is provided between each first clamping jaw, each second clamping jaw and the corresponding hinge shaft.

6. The welding clamping device for a thermal pipeline according to claim 1, wherein, A first slide rail is fixedly installed at the bottom of the flipping frame. The included angle between the first slide rail and the X-axis is 45 degrees. The first inner limiting shaft arranged along the Z-axis is slidably installed on the first slide rail. A first limiting shaft lead screw nut driving mechanism is provided between the first inner limiting shaft and the flipping frame. A second slide rail is fixedly installed at the top of the flipping frame. The included angle between the second slide rail and the Y-axis is 45 degrees. The second inner limiting shaft arranged along the Z-axis is slidably installed on the second slide rail. A second limiting shaft lead screw nut driving mechanism is provided between the second inner limiting shaft and the flipping frame. Limiting ring grooves are provided on the outer circumferential surfaces of the first inner limiting shaft and the second inner limiting shaft.

7. The welding clamping device for a thermal pipeline according to claim 6, wherein The two first elbow outer pushing cylinders are symmetrically arranged on both sides of the first slide rail, and the two second elbow outer pushing cylinders are symmetrically arranged on both sides of the second slide rail.

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

9. The method of the welding clamping device for the thermal pipeline according to any one of claims 1-8, characterized in that, Specifically, it includes the following steps: S1. Place the first straight pipe, the second straight pipe and the elbow at the position to be installed. Draw a first auxiliary line, a second auxiliary line and a third auxiliary line on the first straight pipe, the second straight pipe and the elbow respectively. Obtain the position information of the first auxiliary line, the second auxiliary line and the third auxiliary line through the position recognition component. S2. The flipping frame moves downward. The straight pipe clamping component clamps the first straight pipe. According to the diameter of the first straight pipe, the first inner limiting shaft moves towards the elbow. The two first elbow outer pushing cylinders abut the inner side of the elbow against the first inner limiting shaft. S3. The first elbow outer pushing cylinder pushes the skewed end of the elbow until the position recognition component recognizes that the included angle between the first auxiliary line and the third auxiliary line is 45 degrees, that is, the alignment of the elbow and the first straight pipe is achieved. S4. The straight pipe clamping component clamps and moves the first straight pipe close to the elbow and waits for welding. After welding is completed, release the first straight pipe and the elbow. The flipping frame moves upward and then flips 180 degrees, and then moves downward. The straight pipe clamping component clamps the second straight pipe. According to the diameter of the second straight pipe, the second inner limiting shaft moves towards the elbow. The two second elbow outer pushing cylinders abut the inner side of the elbow against the second inner limiting shaft. S5. The pushing cylinder on the outer side of the second elbow pushes the skewed end of the elbow until the position recognition component recognizes that the included angle between the second auxiliary line and the third auxiliary line is 45 degrees, which realizes the alignment of the elbow and the second straight pipe. S6. The straight pipe clamping component clamps and moves the second straight pipe close to the elbow for welding. After the welding is completed, the flipping frame resets to prepare for the clamping of the next elbow welding.

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