Automatic welding manipulator device for circular pipe welding

Abstract

The invention relates to the technical field of welding, and discloses an automatic welding manipulator device for round pipe welding, which comprises a workbench, the bottom of the workbench is fixedly connected with a support frame, the surface of the workbench is fixedly connected with a manipulator, and the end part of the manipulator is fixedly connected with a walking ring. The inner wall of the walking ring is slidably connected with a welding gun, and the bottom of the workbench is fixedly connected with a motor. By arranging the leveling mechanism, an uneven round pipe is firstly placed on the surface of a lower pressing disc, then a motor is started to drive a one-way threaded rod to rotate, the one-way threaded rod drives a two-way threaded rod to rotate, and the two-way threaded rod drives moving rings on the surface to move in the direction close to each other while rotating; the moving ring moves and drives the pushing frame on the surface to move, the pushing frame pushes the ejector rod to move, the ejector rod pushes the telescopic rod to extend forwards when being stressed, and the telescopic rod pushes the leveling plate to be unfolded towards the periphery while extending.

Description

Technical Field

[0001] The invention relates to the technical field of welding equipment, in particular to an automatic welding manipulator device for round pipe welding. Background Art

[0002] Automatic welding technology refers to a technology that uses mechanical equipment to replace manual operation for welding in industrial production. Its development background mainly stems from the pursuit of production efficiency and work quality, as well as the consideration of reducing the labor intensity of workers.

[0003] In the prior art, the surface of round tubes must be kept flat when they are welded. However, when welding some defective round tubes that are not round or have uneven surfaces during processing, the round tubes will be welded through, resulting in product scrapping and reduced efficiency. Summary of the invention

[0004] The object of the present invention is to provide an automatic welding robot device for round pipe welding to solve the problems raised in the above background technology.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions: The present invention is an automatic welding manipulator device for round pipe welding, comprising a workbench, a support frame is fixedly connected to the bottom of the workbench, a manipulator is fixedly connected to the surface of the workbench, a walking ring is fixedly connected to the end of the manipulator, a welding gun is slidably connected to the inner wall of the walking ring, a motor is fixedly connected to the bottom of the workbench, and further comprising; The leveling mechanism comprises a pushing frame, a push rod is rotatably connected to the surface of the pushing frame, a telescopic rod is fixedly connected to one end of the push rod away from the pushing frame, and a return spring is fixedly connected to the surface of the telescopic rod; The positioning mechanism comprises a pulling frame, the end of the pulling frame is rotatably connected to a lower pressure plate, the bottom of the lower pressure plate is fixedly connected to a lower pressure rod, and the surface of the lower pressure rod is fixedly connected to a lower pressure spring; The fixing mechanism comprises an extrusion slide rod, the bottom of the extrusion slide rod is fixedly connected with a clamping ring, the inner wall of the clamping ring is slidably connected with an extension ring, and the end of the extension ring is fixedly connected with a spring sheet.

[0006] Furthermore, the support frame is fixedly connected to the bottom of the workbench, the manipulator is fixedly connected to the surface of the workbench, the walking ring is fixedly connected to the end of the manipulator, the welding gun is slidably connected to the inner wall of the walking ring, and the motor is fixedly connected to the bottom of the workbench.

[0007] Furthermore, the leveling mechanism includes a bidirectional threaded rod, a surface of the bidirectional threaded rod is threadedly connected to a moving ring, a surface of the bidirectional threaded rod is rotatably connected to a limiting block, the end of the telescopic rod is fixedly connected to a leveling plate, the bottom of the leveling plate is fixedly connected to a moving block, the surface of the moving block is slidably connected to a sliding disk, and the bottom of the bidirectional threaded rod is fixedly connected to a unidirectional threaded rod.

[0008] Furthermore, the movable ring is threadedly connected to the surface of the bidirectional threaded rod, the pushing frame is fixedly connected to the surface of the movable ring, the push rod is rotatably connected to the surface of the pushing frame, the telescopic rod is fixedly connected to the end of the pushing frame, the return spring is fixedly connected to the surface of the telescopic rod, the limit block is rotatably connected to the surface of the bidirectional threaded rod, the leveling plate is fixedly connected to the end of the telescopic rod, the movable block is fixedly connected to the bottom of the leveling plate, the sliding plate is slidably connected to the surface of the movable block, and the unidirectional threaded rod is fixedly connected to the bottom of the bidirectional threaded rod.

[0009] Furthermore, the positioning mechanism includes a slide rail, a slider is slidably connected to the surface of the slide rail, a positioning rod is fixedly connected to the top of the slider, an extrusion rod is fixedly connected to the surface of the positioning rod, a shrinking ring is fixedly connected to the surface of the positioning rod, a connecting ring is slidably connected to the inner wall of the shrinking ring, and a positioning plate is fixedly connected to the surface of the positioning rod.

[0010] Furthermore, the slider is slidably connected to the surface of the slide rail, the positioning rod is fixedly connected to the top of the slider, the extrusion rod is fixedly connected to the surface of the positioning rod, the shrinking ring is fixedly connected to the surface of the positioning rod, the connecting ring is slidably connected to the inner wall of the shrinking ring, the positioning plate is fixedly connected to the surface of the positioning rod, the pulling frame is rotatably connected to the surface of the positioning rod, the lower pressure plate is rotatably connected to the inner wall of the pulling frame, the lower pressure rod is fixedly connected to the bottom of the lower pressure plate, and the lower pressure spring is fixedly connected to the surface of the lower pressure rod.

[0011] Furthermore, the fixing mechanism includes a vertical plate, a sliding rod is fixedly connected to the surface of the vertical plate, a lifting rod is slidably connected to the surface of the sliding rod, an end of the lifting rod away from the sliding rod is fixedly connected to a force disk, an extrusion block is fixedly connected to the surface of the force disk, a sliding groove rod is fixedly connected to the bottom of the force disk, a reset rod is fixedly connected to the bottom of the force disk, a force spring is fixedly connected to the surface of the reset rod, an end of the reset rod away from the force disk is fixedly connected to a pressure disk, a pulling column is fixedly connected to the surface of the pressure plate, and a power rod is fixedly connected to the surface of the pulling column.

[0012] Furthermore, the sliding rod is fixedly connected to the surface of the vertical plate, the lifting rod is slidably connected to the surface of the sliding rod, the force disk is fixedly connected to the end of the lifting rod, the extrusion block is fixedly connected to the surface of the force disk, the slide groove rod is fixedly connected to the bottom of the force disk, the extrusion slide rod is slidably connected to the inner wall of the slide groove rod, the clamping ring is fixedly connected to the bottom of the extrusion slide rod, the extension ring is slidably connected to the inner wall of the clamping ring, the spring sheet is fixedly connected to the end of the extension ring, the reset rod is fixedly connected to the bottom of the force disk, the force spring is fixedly connected to the surface of the reset rod, the pressure plate is fixedly connected to the end of the reset rod, the pulling column is fixedly connected to the surface of the pressure plate, and the power rod is fixedly connected to the surface of the pulling column.

[0013] The present invention has the following beneficial effects: The present invention provides a leveling mechanism, firstly, the uneven round pipe is placed on the surface of the lower pressure plate, and then the motor is started to drive the one-way threaded rod to rotate, the one-way threaded rod drives the two-way threaded rod to rotate, and the two-way threaded rod drives the moving ring on the surface to move in the direction of approaching each other while rotating, and the moving ring drives the pushing frame on the surface to move while moving, and the pushing frame drives the push rod to move, and the push rod pushes the telescopic rod to extend forward when receiving force, and the telescopic rod pushes the leveling plate to expand around while extending, and the leveling plate drives the moving block to slide on the inner wall of the sliding plate while expanding, so that the round pipe with uneven surface is effectively leveled from the inside, thereby improving welding efficiency.

[0014] When the one-way threaded rod rotates, it drives the lower pressure plate on the surface to move downward, and the lower pressure plate squeezes the lower pressure rod downward. When the lower pressure plate moves downward, it pulls the pulling frame to move, and the pulling frame drives the positioning rods to move in the direction of approaching each other. The positioning rod drives the bottom slider to slide on the surface of the slide rail, and the positioning rod drives the squeezing rod to move. When the positioning rod moves, it drives the shrinking ring to move. When the shrinking ring moves, it drives the connecting ring to slide toward the inner wall of the shrinking ring. When the positioning rod moves, it pushes the positioning plates to move in the direction of approaching each other, thereby effectively positioning the round tube.

[0015] When the extrusion rod moves, the extrusion block is squeezed forward. When the extrusion block is subjected to the extrusion force, the force plate is pushed downward to move. When the force plate moves downward, it drives the lifting rod to slide downward on the surface of the sliding rod. When the force plate moves, it pushes the reset rod downward to move. The reset rod pushes the pressure plate downward to move. When the pressure plate contacts the round tube and is subjected to force, it pushes the pulling column upward. When the pulling column is subjected to thrust, it pulls the power rod upward to move. When the power rod moves upward, it squeezes the extrusion slide bar, so that the extrusion slide bar moves toward each other on the inner wall of the slide bar. When the extrusion slide bar moves, it drives the clamping ring to move, the clamping ring drives the extension ring to move, and the extension ring drives the spring piece to move. When the spring piece contacts the round tube and is subjected to the extrusion force, it squeezes the extension ring backward to make the extension ring expand to both sides, thereby effectively fixing the round tube.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. 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 creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention; Figure 3 It is a schematic diagram of the overall structure of the leveling mechanism of the present invention; Figure 4 This is a schematic diagram of the structure of the push frame of the present invention; Figure 5 It is a schematic diagram of the positioning mechanism structure of the present invention; Figure 6 This is a schematic diagram of the structure of the push rod of the present invention; Figure 7 It is a schematic diagram of the overall structure of the fixing mechanism of the present invention; Figure 8 This is a schematic diagram of the structure of the pressure plate of the present invention; Fig. 9 For the present invention Figure 8 Schematic diagram of the enlarged structure of part A in FIG.

[0019] In the accompanying drawings, the components represented by the reference numerals are listed as follows: In the figure: 1, workbench; 2, support frame; 3, manipulator; 4, walking ring; 5, welding gun; 6, motor; 10, leveling mechanism; 11, two-way threaded rod; 12, moving ring; 13, pushing frame; 14, push rod; 15, telescopic rod; 16, reset spring; 17, limit block; 18, leveling plate; 19, moving block; 20, sliding plate; 21, one-way threaded rod; 30, positioning mechanism; 31, slide rail; 32, slider; 33, positioning rod; 34, extrusion rod; 3 5. Shrink ring; 36. Connecting ring; 37. Positioning plate; 38. Pulling frame; 39. Lower pressure plate; 40. Lower pressure rod; 41. Lower pressure spring; 50. Fixing mechanism; 51. Vertical plate; 52. Slide rod; 53. Lifting rod; 54. Force plate; 55. Extrusion block; 56. Slide rod; 57. Extrusion slide rod; 58. Clamping ring; 59. Extension ring; 60. Spring piece; 61. Reset rod; 62. Force spring; 63. Pressure plate; 64. Pulling column; 65. Power rod. DETAILED DESCRIPTION

[0020] 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.

[0021] See also Figure 1 - Fig. 9 As shown, the present invention is an automatic welding manipulator device for round pipe welding, comprising a workbench 1, a support frame 2 is fixedly connected to the bottom of the workbench 1, a manipulator 3 is fixedly connected to the surface of the workbench 1, a walking ring 4 is fixedly connected to the end of the manipulator 3, a welding gun 5 is slidably connected to the inner wall of the walking ring 4, a motor 6 is fixedly connected to the bottom of the workbench 1, and further comprising; The leveling mechanism 10 includes a pushing frame 13. The moving ring 12 moves while driving the pushing frame 13 on the surface to move. The surface of the pushing frame 13 is connected to a push rod 14 for rotation. The pushing frame 13 pushes the push rod 14 to move. One end of the push rod 14 away from the pushing frame 13 is fixedly connected to a telescopic rod 15. When the push rod 14 is subjected to a force, it pushes the telescopic rod 15 to extend forward. A return spring 16 is fixedly connected to the surface of the telescopic rod 15. The positioning mechanism 30 includes a pulling frame 38. When the lower pressure plate 39 moves downward, the pulling frame 38 is pulled to move. The end of the pulling frame 38 is rotatably connected to the lower pressure plate 39. When the one-way threaded rod 21 rotates, the lower pressure plate 39 on the surface is driven to move downward. The bottom of the lower pressure plate 39 is fixedly connected to a lower pressure rod 40. The lower pressure plate 39 presses the lower pressure rod 40 downward, and the surface of the lower pressure rod 40 is fixedly connected to a downward pressure spring 41. The fixing mechanism 50 includes an extrusion slide bar 57. The power rod 65 moves upward while squeezing the extrusion slide bar 57. The bottom of the extrusion slide bar 57 is fixedly connected with a clamping ring 58. The extrusion slide bar 57 moves while driving the clamping ring 58 to move. The inner wall of the clamping ring 58 is slidably connected with an extension ring 59. The clamping ring 58 drives the extension ring 59 to move. The end of the extension ring 59 is fixedly connected with a spring piece 60. The extension ring 59 drives the spring piece 60 to move. When the spring piece 60 contacts the round tube and is subjected to squeezing force, it squeezes the extension ring 59 backwards, causing the extension ring 59 to expand to both sides.

[0022] The support frame 2 is fixedly connected to the bottom of the workbench 1, the manipulator 3 is fixedly connected to the surface of the workbench 1, the walking ring 4 is fixedly connected to the end of the manipulator 3, the welding gun 5 is slidably connected to the inner wall of the walking ring 4, and the motor 6 is fixedly connected to the bottom of the workbench 1.

[0023] The leveling mechanism 10 includes a bidirectional threaded rod 11, and a unidirectional threaded rod 21 drives the bidirectional threaded rod 11 to rotate. The surface of the bidirectional threaded rod 11 is threadedly connected with a moving ring 12. When the bidirectional threaded rod 11 rotates, the moving ring 12 on the surface is driven to move in a direction close to each other. The surface of the bidirectional threaded rod 11 is rotatably connected to a limiting block 17. The end of the telescopic rod 15 is fixedly connected with a leveling plate 18, and the bottom of the leveling plate 18 is fixedly connected with a moving block 19. The surface of the moving block 19 is slidably connected with a sliding plate 20. When the leveling plate 18 is unfolded, the moving block 19 is driven to slide on the inner wall of the sliding plate 20. The bottom of the bidirectional threaded rod 11 is fixedly connected with a unidirectional threaded rod 21, which effectively levels the round pipe with an uneven surface from the inside, thereby improving the welding efficiency.

[0024] The moving ring 12 is threadedly connected to the surface of the two-way threaded rod 11, the pushing frame 13 is fixedly connected to the surface of the moving ring 12, the push rod 14 is rotatably connected to the surface of the pushing frame 13, the telescopic rod 15 is fixedly connected to the end of the pushing frame 13, the return spring 16 is fixedly connected to the surface of the telescopic rod 15, the limit block 17 is rotatably connected to the surface of the two-way threaded rod 11, the leveling plate 18 is fixedly connected to the end of the telescopic rod 15, the moving block 19 is fixedly connected to the bottom of the leveling plate 18, and the telescopic rod 15 extends while pushing the leveling plate 18 to expand around, the sliding plate 20 is slidably connected to the surface of the moving block 19, and the unidirectional threaded rod 21 is fixedly connected to the bottom of the two-way threaded rod 11. First, the uneven round pipe is placed on the surface of the lower pressure plate 39, and then the motor 6 is started to drive the unidirectional threaded rod 21 to rotate.

[0025] The positioning mechanism 30 includes a slide rail 31, the surface of which is slidably connected to a slider 32, the top of which is fixedly connected to a positioning rod 33, the surface of which is fixedly connected to an extrusion rod 34, the positioning rod 33 drives the extrusion rod 34 to move, the surface of which is fixedly connected to a shrinking ring 35, the movement of the positioning rod 33 drives the shrinking ring 35 to move, when the shrinking ring 35 moves, it drives the connecting ring 36 to slide toward the inner wall of the shrinking ring 35, the inner wall of the shrinking ring 35 is slidably connected to the connecting ring 36, the surface of the positioning rod 33 is fixedly connected to a positioning plate 37, when the positioning rod 33 moves, it pushes the positioning plates 37 to move in a direction close to each other, thereby effectively positioning the round tube.

[0026] The slider 32 is slidably connected to the surface of the slide rail 31, the positioning rod 33 drives the bottom slider 32 to slide on the surface of the slide rail 31, the positioning rod 33 is fixedly connected to the top of the slider 32, the extrusion rod 34 is fixedly connected to the surface of the positioning rod 33, the pulling frame 38 drives the positioning rod 33 to move in the direction of approaching each other, the shrinking ring 35 is fixedly connected to the surface of the positioning rod 33, the connecting ring 36 is slidably connected to the inner wall of the shrinking ring 35, the positioning plate 37 is fixedly connected to the surface of the positioning rod 33, the pulling frame 38 is rotatably connected to the surface of the positioning rod 33, the lower pressure plate 39 is rotatably connected to the inner wall of the pulling frame 38, the lower pressure rod 40 is fixedly connected to the bottom of the lower pressure plate 39, and the lower pressure spring 41 is fixedly connected to the surface of the lower pressure rod 40.

[0027] The fixing mechanism 50 includes a vertical plate 51, a sliding rod 52 is fixedly connected to the surface of the vertical plate 51, a lifting rod 53 is slidably connected to the surface of the sliding rod 52, and the force plate 54 moves downward while driving the lifting rod 53 to slide downward on the surface of the sliding rod 52, and the lifting rod 53 is fixedly connected to the end away from the sliding rod 52. When the extrusion block 55 is subjected to the extrusion force, it pushes the force plate 54 downward to move, and the surface of the force plate 54 is fixedly connected to the extrusion block 55. When the extrusion rod 34 moves, the extrusion block 55 is squeezed forward, and the force plate 54 is pushed downward. A slide rod 56 is fixedly connected to the bottom, so that the extrusion slide rod 57 moves towards each other on the inner wall of the slide rod 56; a reset rod 61 is fixedly connected to the bottom of the force disk 54; a force spring 62 is fixedly connected to the surface of the reset rod 61; the force disk 54 moves while pushing the reset rod 62 downward; one end of the reset rod 61 away from the force disk 54 is fixedly connected to a pressure disk 63; a pulling column 64 is fixedly connected to the surface of the pressure disk 63; a power rod 65 is fixedly connected to the surface of the pulling column 64, thereby effectively fixing the round tube.

[0028] The slide bar 52 is fixedly connected to the surface of the vertical plate 51, the lifting rod 53 is slidably connected to the surface of the slide bar 52, the force plate 54 is fixedly connected to the end of the lifting rod 53, the extrusion block 55 is fixedly connected to the surface of the force plate 54, the slide groove rod 56 is fixedly connected to the bottom of the force plate 54, the extrusion slide bar 57 is slidably connected to the inner wall of the slide groove rod 56, the clamping ring 58 is fixedly connected to the bottom of the extrusion slide bar 57, the extension ring 59 is slidably connected to the inner wall of the clamping ring 58, and the spring piece 60 is fixedly connected to the extension ring 5 9, the reset rod 61 is fixedly connected to the bottom of the force disk 54, the force spring 62 is fixedly connected to the surface of the reset rod 61, the reset rod 62 pushes the pressure disk 63 downward to move, the pressure disk 63 is fixedly connected to the end of the reset rod 61, the pulling column 64 is fixedly connected to the surface of the pressure disk 63, when the pressure disk 63 contacts the round tube and is stressed, it pushes the pulling column 64 upward, the power rod 65 is fixedly connected to the surface of the pulling column 64, when the pulling column 64 is pushed, the power rod 65 is pulled upward to move.

[0029] When in use, first place the uneven round pipe on the surface of the lower pressure plate 39, then start the motor 6 to drive the one-way threaded rod 21 to rotate, the one-way threaded rod 21 drives the two-way threaded rod 11 to rotate, and the two-way threaded rod 11 rotates while driving the moving ring 12 on the surface to move in the direction of approaching each other, and the moving ring 12 moves while driving the pushing frame 13 on the surface to move, and the pushing frame 13 drives the push rod 14 to move, and when the push rod 14 receives force, it drives the telescopic rod 15 to extend forward, and when the telescopic rod 15 extends, it drives the screed plate 18 to expand around, and the screed plate 18 is spread out to the surroundings, so that the screed plate 18 is flat and smooth. When the flat plate 18 is unfolded, it drives the moving block 19 to slide on the inner wall of the sliding plate 20. When the one-way threaded rod 21 rotates, it drives the lower pressure plate 39 on the surface to move downward. The lower pressure plate 39 squeezes the lower pressure rod 40 downward. When the lower pressure plate 39 moves downward, it pulls the pulling frame 38 to move. The pulling frame 38 drives the positioning rod 33 to move in a direction close to each other. The positioning rod 33 drives the slider 32 at the bottom to slide on the surface of the slide rail 31. The positioning rod 33 drives the squeezing rod 34 to move. When the positioning rod 33 moves, it drives the shrink ring 35 to move. When the shrink ring 35 moves, it drives the connecting ring 36 to slide toward the inner wall of the shrink ring 35. When the positioning rod 33 moves, it pushes the positioning plates 37 to move in the direction of approaching each other. When the extrusion rod 34 moves, it squeezes the extrusion block 55 forward. When the extrusion block 55 is subjected to the extrusion force, it pushes the force plate 54 downward to move. When the force plate 54 moves downward, it drives the lifting rod 53 to slide downward on the surface of the sliding rod 52. When the force plate 54 moves, it pushes the reset rod 62 downward to move. The reset rod 62 pushes the pressure plate 63 downward to move. When the pressure plate When 63 contacts the round tube and is subjected to force, it pushes the pulling column 64 upward. When the pulling column 64 is subjected to the thrust, it pulls the power rod 65 upward to move. While the power rod 65 moves upward, it squeezes the extrusion slide bar 57, so that the extrusion slide bar 57 moves toward each other on the inner wall of the slide groove rod 56. While the extrusion slide bar 57 moves, it drives the clamping ring 58 to move, and the clamping ring 58 drives the extension ring 59 to move, and the extension ring 59 drives the spring piece 60 to move. When the spring piece 60 contacts the round tube and is subjected to the squeezing force, it squeezes the extension ring 59 backward, so that the extension ring 59 expands to both sides.

[0030] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. An automatic welding robot device for round pipe welding, comprising a workbench (1), a support frame (2) fixedly connected to the bottom of the workbench (1), a robot (3) fixedly connected to the surface of the workbench (1), a walking ring (4) fixedly connected to the end of the robot (3), a welding gun (5) slidably connected to the inner wall of the walking ring (4), and a motor (6) fixedly connected to the bottom of the workbench (1), characterized in that: Also includes; A leveling mechanism (10), the leveling mechanism (10) comprising a pushing frame (13) and a bidirectional threaded rod (11), the surface of the pushing frame (13) being rotatably connected to a push rod (14), one end of the push rod (14) away from the pushing frame (13) being fixedly connected to a telescopic rod (15), the surface of the telescopic rod (15) being fixedly connected to a return spring (16), the surface of the bidirectional threaded rod (11) being threadably connected to a moving ring (12), the surface of the bidirectional threaded rod (11) being rotatably connected to a limiting block (17), the end of the telescopic rod (15) being fixedly connected to a leveling plate (18), the bottom of the leveling plate (18) being fixedly connected to a moving block (19), the surface of the moving block (19) being slidably connected to a sliding plate (20), and the bottom of the bidirectional threaded rod (11) being fixedly connected to a unidirectional threaded rod (21); The moving ring (12) is threadedly connected to the surface of the bidirectional threaded rod (11); the pushing frame (13) is fixedly connected to the surface of the moving ring (12); the push rod (14) is rotatably connected to the surface of the pushing frame (13); the telescopic rod (15) is fixedly connected to the end of the pushing frame (13); the return spring (16) is fixedly connected to the surface of the telescopic rod (15); the limit block (17) is rotatably connected to the surface of the bidirectional threaded rod (11); the leveling plate (18) is fixedly connected to the end of the telescopic rod (15); the moving block (19) is fixedly connected to the bottom of the leveling plate (18); the sliding plate (20) is slidably connected to the surface of the moving block (19); and the unidirectional threaded rod (21) is fixedly connected to the bottom of the bidirectional threaded rod (11); A positioning mechanism (30), the positioning mechanism (30) comprising a pulling frame (38), the end of the pulling frame (38) being rotatably connected to a lower pressure plate (39), the bottom of the lower pressure plate (39) being fixedly connected to a lower pressure rod (40), and the surface of the lower pressure rod (40) being fixedly connected to a lower pressure spring (41); A fixing mechanism (50), the fixing mechanism (50) comprising an extrusion slide rod (57), the bottom of the extrusion slide rod (57) being fixedly connected to a clamping ring (58), the inner wall of the clamping ring (58) being slidably connected to an extension ring (59), and the end of the extension ring (59) being fixedly connected to a spring sheet (60).

2. The automatic welding robot device for round pipe welding according to claim 1 is characterized in that: The support frame (2) is fixedly connected to the bottom of the workbench (1), the manipulator (3) is fixedly connected to the surface of the workbench (1), the walking ring (4) is fixedly connected to the end of the manipulator (3), the welding gun (5) is slidably connected to the inner wall of the walking ring (4), and the motor (6) is fixedly connected to the bottom of the workbench (1).

3. The automatic welding robot device for round pipe welding according to claim 2 is characterized in that: The positioning mechanism (30) comprises a slide rail (31), a slider (32) is slidably connected to the surface of the slide rail (31), a positioning rod (33) is fixedly connected to the top of the slider (32), a pressing rod (34) is fixedly connected to the surface of the positioning rod (33), a shrinking ring (35) is fixedly connected to the surface of the positioning rod (33), a connecting ring (36) is slidably connected to the inner wall of the shrinking ring (35), and a positioning plate (37) is fixedly connected to the surface of the positioning rod (33).

4. The automatic welding robot device for round pipe welding according to claim 3 is characterized in that: The slider (32) is slidably connected to the surface of the slide rail (31), the positioning rod (33) is fixedly connected to the top of the slider (32), the extrusion rod (34) is fixedly connected to the surface of the positioning rod (33), the shrink ring (35) is fixedly connected to the surface of the positioning rod (33), the connecting ring (36) is slidably connected to the inner wall of the shrink ring (35), the positioning plate (37) is fixedly connected to the surface of the positioning rod (33), the pulling frame (38) is rotatably connected to the surface of the positioning rod (33), the lower pressure plate (39) is rotatably connected to the inner wall of the pulling frame (38), the lower pressure rod (40) is fixedly connected to the bottom of the lower pressure plate (39), and the lower pressure spring (41) is fixedly connected to the surface of the lower pressure rod (40).

5. The automatic welding robot device for round pipe welding according to claim 4 is characterized in that: The fixing mechanism (50) comprises a vertical plate (51), a sliding rod (52) is fixedly connected to the surface of the vertical plate (51), a lifting rod (53) is slidably connected to the surface of the sliding rod (52), an end of the lifting rod (53) away from the sliding rod (52) is fixedly connected to a force plate (54), an extrusion block (55) is fixedly connected to the surface of the force plate (54), a sliding groove rod (56) is fixedly connected to the bottom of the force plate (54), a reset rod (61) is fixedly connected to the bottom of the force plate (54), a force spring (62) is fixedly connected to the surface of the reset rod (61), an end of the reset rod (61) away from the force plate (54) is fixedly connected to a pressure plate (63), a pulling column (64) is fixedly connected to the surface of the pulling column (64), and a power rod (65) is fixedly connected to the surface of the pulling column (64).

6. The automatic welding robot device for round pipe welding according to claim 5 is characterized in that: The slide bar (52) is fixedly connected to the surface of the vertical plate (51), the lifting rod (53) is slidably connected to the surface of the slide bar (52), the force plate (54) is fixedly connected to the end of the lifting rod (53), the extrusion block (55) is fixedly connected to the surface of the force plate (54), the slide groove rod (56) is fixedly connected to the bottom of the force plate (54), the extrusion slide bar (57) is slidably connected to the inner wall of the slide groove rod (56), and the clamping ring (58) is fixedly connected to the bottom of the extrusion slide bar (57). The extension ring (59) is slidably connected to the inner wall of the clamping ring (58), the spring sheet (60) is fixedly connected to the end of the extension ring (59), the reset rod (61) is fixedly connected to the bottom of the force plate (54), the force spring (62) is fixedly connected to the surface of the reset rod (61), the pressure plate (63) is fixedly connected to the end of the reset rod (61), the pulling column (64) is fixedly connected to the surface of the pressure plate (63), and the power rod (65) is fixedly connected to the surface of the pulling column (64).

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