Intelligent welding device for prestressed concrete pipe pile connection and welding method thereof

Abstract

The invention discloses an intelligent welding device for prestressed concrete pipe pile connection and a welding method thereof, and relates to the technical field of welding devices.The first supporting frame is provided with a second clamping and positioning mechanism used for clamping a second concrete pipe pile, and the third supporting frame is provided with a first clamping and positioning mechanism used for clamping a first concrete pipe pile; the second supporting frame is provided with a welding structure for welding the joint of the second concrete pipe pile and the first concrete pipe pile. A first concrete pipe pile is clamped and positioned through a plurality of first positioning rods, a second concrete pipe pile is clamped and positioned through a plurality of second positioning rods, the position accuracy of the connecting positions of precast piles can be guaranteed, meanwhile, the position of a welding gun in the horizontal direction is adjusted, the position of the welding gun in the vertical direction is adjusted, and the welding efficiency is improved. And the connecting position of the second concrete pipe pile and the first concrete pipe pile can be welded, and the beneficial effects of being high in welding quality and good in welding stability are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of welding devices, and particularly to an intelligent welding device for connecting prestressed concrete pipe piles and a welding method thereof. Background Art

[0002] Prestressed concrete pipe piles are widely used in engineering fields such as industrial and civil buildings, bridges, ports, docks, and water conservancy. In soft soil foundation areas, such as coastal and river areas, pipe piles are often used in the foundation projects of high-rise buildings, large industrial factories, etc. due to their high bearing capacity and good stability. In bridge engineering, pipe piles can be used as the foundation of bridge piers and abutments to bear the weight of the bridge structure and vehicle loads. In water conservancy projects, they can be used for the foundation treatment of buildings such as sluices and dams to improve the impermeability and stability of the foundation.

[0003] Existing intelligent welding devices for connecting prestressed concrete pipe piles have the disadvantages of difficult positioning and alignment and unstable welding quality. Since the precast piles are relatively long, large deviations will also occur at the connection points. Therefore, before pile splicing, it is necessary to ensure the alignment of the connection ends of adjacent precast piles, which affects the alignment of the welds and the welding quality. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the above-mentioned disadvantages of the prior art and provide an intelligent welding device for connecting prestressed concrete pipe piles with accurate positioning and high welding quality and a welding method thereof.

[0005] The technical solution adopted to solve the above technical problem is as follows: A first support frame, a second support frame, and a third support frame are provided on a support. A second clamping and positioning mechanism for clamping a second concrete pipe pile is provided on the first support frame. A first clamping and positioning mechanism for clamping a first concrete pipe pile is provided on the third support frame. A welding structure for welding the connection between the second concrete pipe pile and the first concrete pipe pile is provided on the second support frame; the welding structure is: A third electric cylinder is provided on the second support frame. The output end of the third electric cylinder is fixedly connected to a first connecting plate. A third fixed shaft is provided on the first connecting plate. Two third connecting rods located on both sides of the first connecting plate are rotatably installed on the third fixed shaft. Each end of each third connecting rod is respectively processed with a second sliding hole slidably connected to the third fixed shaft. Each other end of each third connecting rod is respectively fixedly installed with a second connecting shaft. Each second connecting shaft is respectively fixedly connected to one end of a second connecting plate. Each second connecting shaft is respectively rotatably connected to the second support frame. Each other end of each second connecting plate is respectively provided with a semi-circular fixing plate. The two semi-circular fixing plates move to combine to form a circular fixing ring. The circular fixing ring is located outside the outer circumference of the first concrete pipe pile. A sliding frame is slidably connected to the circular fixing ring along the circumferential direction. A welding torch for welding the connection between the second concrete pipe pile and the first concrete pipe pile is provided on the sliding frame.

[0006] Furthermore, the first concrete pipe pile is located directly below the second concrete pipe pile. The vertical center line of the second concrete pipe pile and the vertical center line of the first concrete pipe pile are the same vertical line, and the welding structure is located between the first clamping and positioning mechanism and the second clamping and positioning mechanism.

[0007] Furthermore, a first motor for driving the second gear to rotate is provided on the sliding frame. Semi-circular racks are respectively arranged in the circumferential direction of each semi-circular fixing plate. The two semi-circular racks are combined to form a gear ring. The second gear is meshed with the gear ring for transmission. A fourth chute for sliding connection with the upper side of the semi-circular fixing plate in the circumferential direction is machined on the sliding frame, and a fifth chute for sliding connection with the lower side of the semi-circular fixing plate in the circumferential direction is machined on the sliding frame.

[0008] Furthermore, a second motor is provided on the sliding frame. The output shaft of the second motor is fixedly connected with a third gear. A first lead screw is rotatably installed on the sliding frame in the horizontal direction. One end of the first lead screw is provided with a fourth gear meshed with the third gear for transmission. The first lead screw is threadedly connected with the sliding plate.

[0009] Furthermore, a first connecting ring is provided on the welding torch. Fourth connecting rods are respectively arranged on both sides of the first connecting ring. An incomplete gear is arranged on one of the fourth connecting rods. A third motor for driving a fifth gear to rotate is provided on the sliding plate. The fifth gear is meshed with the incomplete gear for transmission. Two second support plates are arranged on one side of the sliding plate. Each fourth connecting rod is rotatably connected with the second support plate; A second connecting ring is provided on the welding torch. Slide bars are respectively arranged on both sides of the second connecting ring. Two first support plates are arranged on the other side of the sliding plate. First sliding holes for sliding connection with the slide bars in the vertical direction are respectively machined on each first support plate.

[0010] Further, the first clamping and positioning mechanism is as follows: a first electric cylinder is arranged on the third support frame, the output end of the first electric cylinder is fixedly connected with a first slider, the first slider is connected with the third support frame through a first spring, first chutes are respectively machined on the upper and lower sides of the first slider, first slide rails which are slidably connected with the first chutes in the horizontal direction are arranged on the third support frame, two ends of the first slider are respectively rotatably connected with one ends of second connecting rods, the other ends of each second connecting rod are respectively rotatably connected with a first semi-circular positioning plate, the two first semi-circular positioning plates move and combine to form a lower circular ring positioning plate, transmitting ends of a plurality of infrared pair sensors are uniformly arranged in the circumferential direction at the top of the lower circular ring positioning plate, a first fixed shaft is arranged on the third support frame, the first fixed shaft is respectively rotatably connected with one ends of the two first semi-circular positioning plates, and a first anti-collision pad is arranged at the other end of one of the first semi-circular positioning plates; a second electric cylinder is arranged on the third support frame, the output end of the second electric cylinder is fixedly connected with the top of a second slider, a third chute which is slidably connected with the second slider in the horizontal direction is machined on the third support frame, two ends of the second slider are respectively rotatably connected with one ends of first connecting rods, second chutes which are slidably connected with first arc-shaped sliding plates in the circumferential direction are respectively machined on each first semi-circular positioning plate, the other ends of each first connecting rod are respectively rotatably connected with one ends of first arc-shaped sliding plates, first arc-shaped racks are respectively arranged on each first arc-shaped sliding plate, a plurality of first positioning rods are uniformly connected with the lower circular ring positioning plate in a threaded manner, the plurality of first positioning rods respectively abut against the outer circumferential side wall of the first concrete pipe pile and clamp the first concrete pipe pile, each first positioning rod is respectively fixedly connected with a first connecting shaft, and each first connecting shaft is respectively provided with a first gear which is meshed and driven with the first arc-shaped rack.

[0011] Further, the second clamping and positioning mechanism is as follows: a fourth electric cylinder is arranged on the first support frame, the output end of the fourth electric cylinder is fixedly connected with a third slider, the third slider is connected with the first support frame through a second spring, sixth chutes are respectively machined on the upper and lower sides of the third slider, second slide rails which are respectively connected with the sixth chutes in a horizontal sliding manner are arranged on the first support frame, two ends of each of the third slider are respectively rotatably connected with one end of a fifth connecting rod, the other end of each fifth connecting rod is respectively rotatably connected with a second semi-circular positioning plate, the two second semi-circular positioning plates move and combine to form an upper circular ring positioning plate, receiving ends of a plurality of infrared pair sensors are uniformly arranged on the circumferential direction of the bottom of the upper circular ring positioning plate, a second fixed shaft is arranged on the first support frame, the second fixed shaft is respectively rotatably connected with one end of each of the two second semi-circular positioning plates, and a second anti-collision pad is arranged at the other end of one of the second semi-circular positioning plates; a fifth electric cylinder is arranged on the first support frame, the output end of the fifth electric cylinder is fixedly connected with the bottom of a fourth slider, an eighth chute which is connected with the fourth slider in a horizontal sliding manner is machined on the first support frame, two ends of each of the fourth slider are respectively rotatably connected with one end of a sixth connecting rod, seventh chutes which are respectively connected with second arc-shaped sliding plates in a circumferential sliding manner are respectively machined on each of the second semi-circular positioning plates, the other end of each sixth connecting rod is respectively rotatably connected with one end of a second semi-circular positioning plate, second arc-shaped racks are respectively arranged on each of the second arc-shaped sliding plates, a plurality of second positioning rods are uniformly connected with the upper circular ring positioning plate in a threaded manner, the plurality of second positioning rods are in contact with and clamp the outer circumferential side wall of the second concrete pipe pile, each second positioning rod is respectively fixedly connected with a third connecting shaft, and a sixth gear which is meshed with the second arc-shaped rack is respectively arranged on each third connecting shaft.

[0012] Further, a fixed seat is arranged at the top of the second support frame, a fourth motor is arranged on the fixed seat, the output shaft of the fourth motor is fixedly connected with one end of a second lead screw, the second lead screw is rotatably connected with the fixed seat, the second lead screw is in threaded connection with a sliding plate, the sliding plate is located above the fixed seat and below the first support frame, a fifth motor is arranged on the sliding plate, the output shaft of the fifth motor is fixedly connected with one end of a third lead screw, the third lead screw is in threaded connection with the bottom of the first support frame, and the third lead screw is rotatably connected with the sliding plate.

[0013] A welding method for a prestressed concrete pipe pile connection intelligent welding device comprises the following steps: S1, the first clamping and positioning mechanism clamps and positions the first concrete pipe pile; S2, the second clamping and positioning mechanism clamps and positions the second concrete pipe pile to ensure that the vertical center line of the second concrete pipe pile and the vertical center line of the first concrete pipe pile are the same vertical line; S3, the welding structure welds the connection between the second concrete pipe pile and the first concrete pipe pile: the output end of the third electric cylinder drives the third connecting rods on both sides to move through the first connecting plate, each third connecting rod drives the second connecting shaft to rotate on the second support frame respectively, each second connecting shaft drives the semi-circular fixing plate to move through the second connecting plate respectively, the two semi-circular fixing plates are combined into a circular fixing ring, the semi-circular racks on the two semi-circular fixing plates are combined to form a gear ring, the output shaft of the first motor drives the second gear to rotate, the second gear is meshed with the gear ring for transmission, and the second gear drives the welding torch on the sliding frame to make a circular motion. During the circular motion of the welding torch, the welding structure welds the connection between the second concrete pipe pile and the first concrete pipe pile; the output shaft of the second motor drives the third gear to rotate, the third gear drives the fourth gear to rotate through meshing transmission with the fourth gear, the fourth gear drives the first lead screw to rotate, and the sliding plate moves horizontally on the first lead screw to adjust the horizontal position of the welding torch on the sliding plate. The output shaft of the third motor drives the fifth gear to rotate, the fifth gear drives the incomplete gear to rotate through meshing transmission with the incomplete gear, the incomplete gear drives the welding torch to swing successively through the fourth connecting rod and the first connecting ring, and the sliding rods on both sides of the second connecting ring on the welding torch slide vertically in the first sliding holes to adjust the vertical position of the welding torch.

[0014] Further, the method for the first clamping and positioning mechanism to clamp and position the first concrete pipe pile in S1 is as follows: Place the first concrete pipe pile between two first semi-circular positioning plates. The output end of the first electric cylinder drives the first slider to slide horizontally. The first chute at the bottom of the first slider slides horizontally on the first slide rail of the third support frame. The first slider drives the two first semi-circular positioning plates to move through the second connecting rods on both sides. The movement of the two first semi-circular positioning plates combines into a lower circular ring positioning plate. The first concrete pipe pile is located in the middle of the lower circular ring positioning plate. The output end of the second electric cylinder drives the second slider to slide horizontally on the third chute of the third support frame. The second slider drives the first arc-shaped slide plate to slide in the second chute of the first semi-circular positioning plate through the first connecting rods on both sides. The first arc-shaped slide plate drives the first arc-shaped rack to move. The first arc-shaped rack drives multiple first gears to rotate respectively through meshing transmission with multiple first gears. Each first gear drives the first positioning rod to rotate through the first connecting shaft. Multiple first positioning rods move to abut against the outer circumferential side wall of the first concrete pipe pile and clamp and position the first concrete pipe pile. The method for the second clamping and positioning mechanism to clamp and position the second concrete pipe pile in S2 is as follows: Place the second concrete pipe pile between two second semi-circular positioning plates. The output end of the fourth electric cylinder drives the third slider to slide horizontally. The sixth chute at the bottom of the third slider slides horizontally on the second slide rail of the first support frame. The third slider drives the two second semi-circular positioning plates to move through the fifth connecting rods on both sides. The movement of the two second semi-circular positioning plates combines into an upper circular ring positioning plate. The second concrete pipe pile is located in the middle of the upper circular ring positioning plate. The output end of the fifth electric cylinder drives the fourth slider to slide horizontally on the eighth chute of the first support frame. The fourth slider drives the second arc-shaped slide plate to slide in the seventh chute of the second semi-circular positioning plate through the sixth connecting rods on both sides. The second arc-shaped slide plate drives the second arc-shaped rack to move. The second arc-shaped rack drives multiple sixth gears to rotate respectively through meshing transmission with multiple sixth gears. Each sixth gear drives the second positioning rod to rotate through the third connecting shaft. Multiple second positioning rods move to abut against the outer circumferential side wall of the second concrete pipe pile and clamp and position the second concrete pipe pile.The output end of the fourth motor drives the second lead screw to rotate. The sliding plate slides along the first horizontal direction on the second lead screw. The sliding plate drives the first support frame and the second clamping and positioning mechanism to move along the first horizontal direction. The output shaft of the fifth motor drives the third lead screw to rotate. The first support frame slides along the second horizontal direction on the third lead screw. The first support frame drives the second clamping and positioning mechanism to move along the second horizontal direction. The straight line where the first horizontal movement direction is located is perpendicular to the straight line where the second horizontal movement direction is located. Adjust the positions of the first support frame and the second clamping and positioning mechanism to ensure that the receiving end of the infrared pair sensor on the second semi-circular positioning plate receives the infrared light emitted by the infrared pair sensor on the first semi-circular positioning plate, and ensure that the vertical center line of the second concrete pipe pile and the vertical center line of the first concrete pipe pile are the same vertical line.;

[0015] The beneficial effects of the present invention are as follows: (1) In the present invention, a plurality of first positioning rods move to abut against the outer circumferential side wall of the first concrete pipe pile and clamp and position the first concrete pipe pile, and a plurality of second positioning rods move to abut against the outer circumferential side wall of the second concrete pipe pile and clamp and position the second concrete pipe pile. By adjusting the position of the second clamping and positioning mechanism, it is ensured that the receiving end of the infrared pair sensor on the second semi-circular positioning plate receives the infrared light emitted by the corresponding infrared pair sensor on the first semi-circular positioning plate, and the position accuracy between the joints of the precast piles can be ensured.

[0016] (2) In the present invention, a welding torch welds the joint between the second concrete pipe pile and the first concrete pipe pile during the circular motion. The sliding plate drives the welding torch to move horizontally, adjusts the position of the welding torch in the horizontal direction, and the incomplete gear drives the welding torch to swing, adjusting the position of the welding torch in the vertical direction, so that the joint between the second concrete pipe pile and the first concrete pipe pile can be welded, with the advantages of high welding quality and good welding stability. Description of the Drawings

[0017] Figure 1 It is a schematic structural diagram of an embodiment of the intelligent welding device for connecting prestressed concrete pipe piles of the present invention.

[0018] Figure 2 It is a schematic structural diagram of the first clamping and positioning mechanism.

[0019] Figure 3 It is Figure 1 The structural diagram after removing the first concrete pipe pile in

[0020] Figure 4 It is a schematic structural diagram of the third support frame.

[0021] Figure 5 It is Figure 3 The bottom structural diagram of

[0022] Figure 6 It is a schematic diagram of the component structure on the first arc-shaped skateboard.

[0023] Figure 7 It is a schematic diagram of the structure of the first semi-circular positioning plate.

[0024] Figure 8 It is a schematic diagram of the welding structure.

[0025] Figure 9 It is a schematic diagram of the structure of the second support frame.

[0026] Figure 10 It is Figure 9 a schematic diagram of the structure after removing the second support frame in

[0027] Figure 11 It is a schematic diagram of the structure of the first connecting plate and the third fixed shaft.

[0028] Figure 12 It is a schematic diagram of the structure of the third connecting rod and the second sliding hole.

[0029] Figure 13 It is a schematic diagram of the component structure on the sliding frame.

[0030] Figure 14 It is Figure 13 a schematic diagram of the structure after removing the sliding frame in

[0031] Figure 15 It is a schematic diagram of the structure of the skateboard.

[0032] Figure 16 It is Figure 14 a schematic diagram of the structure from another angle.

[0033] Figure 17 It is a schematic diagram of the component structure on the welding torch.

[0034] Figure 18 It is a schematic diagram of the structure of the second clamping and positioning mechanism.

[0035] Figure 19 It is a schematic diagram of the structure of the first support frame.

[0036] Figure 20 It is Figure 19 a schematic diagram of the structure from another angle.

[0037] Figure 21 It is a schematic diagram of the component structure on the fixed seat.

[0038] Figure 22 It is a schematic diagram of the component structure on the sliding plate.

[0039] Figure 23 It is Figure 1Schematic diagram of the structure of the second concrete pipe pile with the first support removed.

[0040] Figure 24 is Figure 23 Schematic diagram of the structure from another angle.

[0041] Figure 25 Schematic diagram of the structure of the second semi - circular positioning plate.

[0042] Reference numerals: 1, first support; 2, second support; 3, third support; 4, first concrete pipe pile; 5, first clamping and positioning mechanism; 501, first positioning rod; 502, first gear; 503, first connecting shaft; 504, first arc - shaped slide plate; 505, first arc - shaped rack; 506, first semi - circular positioning plate; 507, first electric cylinder; 508, second electric cylinder; 509, first fixed shaft; 510, first slide rail; 511, infrared emission end of the infrared pair - shooting sensor; 512, first connecting rod; 513, second connecting rod; 514, first spring; 515, first slider; 516, first chute; 517, second chute; 518, first anti - collision pad; 519, second slider; 520, third chute; 6, welding structure; 601, third electric cylinder; 602, sliding frame; 603, semi - circular rack; 604, semi - circular fixing plate; 605, second connecting shaft; 606, third connecting rod; 607, first connecting plate; 608, first motor; 609, second motor; 610, welding torch; 611, slide plate; 612, second gear; 613, fourth chute; 614, fifth chute; 615, third gear; 616, fourth gear; 617, first lead screw; 618, first sliding hole; 619, first connecting ring; 620, third motor; 621, fifth gear; 622, second connecting ring; 623, slide bar; 624, incomplete gear; 625, fourth connecting rod; 626, third fixed shaft; 627, second sliding hole; 628, second connecting plate; 629, first support plate; 630, second support plate; 7, second clamping and positioning mechanism; 701, second semi - circular positioning plate; 702, fifth connecting rod; 703, fourth electric cylinder; 704, fourth motor; 705, fixed seat; 706, sliding plate; 707, fifth motor; 708, second slide rail; 709, second fixed shaft; 710, second lead screw; 711, third lead screw; 712, second spring; 713, third slider; 714, sixth chute; 715, infrared receiving end of the infrared pair - shooting sensor; 716, second arc - shaped slide plate; 717, second arc - shaped rack; 718, third connecting shaft; 719, sixth gear; 720, second positioning rod; 721, sixth connecting rod; 722, fifth electric cylinder; 723, seventh chute; 724, second anti - collision pad; 725, fourth slider; 726, eighth chute; 8, second concrete pipe pile. Detailed implementation mode

[0043] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0044] As Figure 1 shown, an intelligent welding device for connecting prestressed concrete pipe piles in this embodiment is composed of a first support frame 1, a second support frame 2, a third support frame 3, a first concrete pipe pile 4, a first clamping and positioning mechanism 5, a welding structure 6, a second clamping and positioning mechanism 7, and a second concrete pipe pile 8 connected together.

[0045] The first support frame 1, the second support frame 2, and the third support frame 3 are arranged on the support. A second clamping and positioning mechanism 7 for clamping the second concrete pipe pile 8 is arranged on the first support frame 1. The second support frame 2 is located below the first support frame 1, and the third support frame 3 is located below the second support frame 2. A first clamping and positioning mechanism 5 for clamping the first concrete pipe pile 4 is arranged on the third support frame 3. The first concrete pipe pile 4 is located directly below the second concrete pipe pile 8. The vertical centerlines of the second concrete pipe pile 8 and the first concrete pipe pile 4 are the same vertical line. A welding structure 6 for welding the connection between the second concrete pipe pile 8 and the first concrete pipe pile 4 is arranged on the second support frame 2. The welding structure 6 is located between the first clamping and positioning mechanism 5 and the second clamping and positioning mechanism 7.

[0046] As Figures 2 to 7 shown, the first clamping and positioning mechanism 5 is composed of a first positioning rod 501, a first gear 502, a first connecting shaft 503, a first arc-shaped slide plate 504, a first arc-shaped rack 505, a first semi-circular positioning plate 506, a first electric cylinder 507, a second electric cylinder 508, a first fixed shaft 509, a first slide rail 510, an infrared pair emitter 511, a first connecting rod 512, a second connecting rod 513, a first spring 514, a first slider 515, a first chute 516, a second chute 517, a first anti-collision pad 518, a second slider 519, and a third chute 520 connected together.

[0047] The first clamping and positioning mechanism 5 is as follows: A first electric cylinder 507 is provided on the third support frame 3. The output end of the first electric cylinder 507 is fixedly connected to a first slider 515. The first slider 515 is connected to the third support frame 3 through a first spring 514. First sliding grooves 516 are respectively machined on the upper and lower sides of the first slider 515. First sliding rails 510 which are slidably connected to the first sliding grooves 516 in the horizontal direction are provided on the third support frame 3. Both sides of the first slider 515 are respectively rotatably connected to one end of a second connecting rod 513. The other end of each second connecting rod 513 is respectively rotatably connected to a first semi-circular positioning plate 506. The movement of the two first semi-circular positioning plates 506 combines to form a lower circular ring positioning plate. A plurality of infrared emitter ends 511 of infrared pair sensors are evenly arranged in the circumferential direction at the top of the lower circular ring positioning plate. A first fixed shaft 509 is provided on the third support frame 3. The first fixed shaft 509 is respectively rotatably connected to one end of the two first semi-circular positioning plates 506. A first anti-collision pad 518 is provided at the other end of one of the first semi-circular positioning plates 506.

[0048] A second electric cylinder 508 is provided on the third support frame 3. The output end of the second electric cylinder 508 is fixedly connected to the top of a second slider 519. A third sliding groove 520 which is slidably connected to the second slider 519 in the horizontal direction is machined on the third support frame 3. Both sides of the second slider 519 are respectively rotatably connected to one end of a first connecting rod 512. Second sliding grooves 517 which are slidably connected to a first arc-shaped sliding plate 504 in the circumferential direction are respectively machined on each first semi-circular positioning plate 506. The other end of each first connecting rod 512 is respectively rotatably connected to one end of a first arc-shaped sliding plate 504. First arc-shaped racks 505 are respectively provided on each first arc-shaped sliding plate 504. A plurality of first positioning rods 501 are evenly threadedly connected in the circumferential direction of the lower circular ring positioning plate. The plurality of first positioning rods 501 respectively abut against the outer circumferential side wall of the first concrete pipe pile 4 and clamp the first concrete pipe pile 4. Each first positioning rod 501 is respectively fixedly connected to a first connecting shaft 503. A first gear 502 which meshes with the first arc-shaped rack 505 is respectively provided on each first connecting shaft 503.

[0049] Such as Figures 8 to 17As shown, the welding structure 6 is composed of a third electric cylinder 601, a sliding frame 602, a semi-circular rack 603, a semi-circular fixing plate 604, a second connecting shaft 605, a third connecting rod 606, a first connecting plate 607, a first motor 608, a second motor 609, a welding torch 610, a sliding plate 611, a second gear 612, a fourth sliding groove 613, a fifth sliding groove 614, a third gear 615, a fourth gear 616, a first lead screw 617, a first sliding hole 618, a first connecting ring 619, a third motor 620, a fifth gear 621, a second connecting ring 622, a sliding rod 623, an incomplete gear 624, a fourth connecting rod 625, a third fixed shaft 626, a second sliding hole 627, a second connecting plate 628, a first support plate 629, and a second support plate 630 connected together.

[0050] The welding structure 6 is as follows: A third electric cylinder 601 is arranged on the second support frame 2, the output end of the third electric cylinder 601 is fixedly connected to the first connecting plate 607, a third fixed shaft 626 is arranged on the first connecting plate 607, and two third connecting rods 606 located on both sides of the first connecting plate 607 are rotatably installed on the third fixed shaft 626. A second sliding hole 627 for sliding connection with the third fixed shaft 626 is machined at one end of each third connecting rod 606, and a second connecting shaft 605 is fixedly installed at the other end of each third connecting rod 606. Each second connecting shaft 605 is fixedly connected to one end of the second connecting plate 628, and each second connecting shaft 605 is rotatably connected to the second support frame 2. A semi-circular fixing plate 604 is arranged at the other end of each second connecting plate 628. The two semi-circular fixing plates 604 move to combine into a circular fixing ring. The circular fixing ring is located outside the outer circumference of the first concrete pipe pile 4. A sliding frame 602 is slidably connected along the circumferential direction on the circular fixing ring, and a welding torch 610 for welding the connection between the second concrete pipe pile 8 and the first concrete pipe pile 4 is arranged on the sliding frame 602.

[0051] A first motor 608 for driving the second gear 612 to rotate is arranged on the sliding frame 602. A semi-circular rack 603 is respectively arranged in the circumferential direction of each semi-circular fixing plate 604. The two semi-circular racks 603 combine into a toothed ring. The second gear 612 is in meshing transmission with the toothed ring. A fourth sliding groove 613 for sliding connection along the circumferential direction with the upper side of the semi-circular fixing plate 604 is machined on the sliding frame 602, and a fifth sliding groove 614 for sliding connection along the circumferential direction with the lower side of the semi-circular fixing plate 604 is machined on the sliding frame 602.

[0052] A second motor 609 is arranged on the sliding frame 602. The output shaft of the second motor 609 is fixedly connected to the third gear 615. A first lead screw 617 is rotatably installed in the horizontal direction on the sliding frame 602. A fourth gear 616 meshing with the third gear 615 is arranged at one end of the first lead screw 617. The first lead screw 617 is in threaded connection with the sliding plate 611.

[0053] A first connecting ring 619 is provided on the welding torch 610. Fourth connecting rods 625 are respectively provided on both sides of the first connecting ring 619. An incomplete gear 624 is provided on one of the fourth connecting rods 625. A third motor 620 for driving the fifth gear 621 to rotate is provided on the sliding plate 611. The fifth gear 621 is in meshing transmission with the incomplete gear 624. Two second support plates 630 are provided on one side of the sliding plate 611. Each fourth connecting rod 625 is respectively rotatably connected to the second support plate 630. A second connecting ring 622 is provided on the welding torch 610. Slide rods 623 are respectively provided on both sides of the second connecting ring 622. Two first support plates 629 are provided on the other side of the sliding plate 611. First sliding holes 618 for slidingly connecting with the slide rods 623 in the vertical direction are respectively machined on each first support plate 629.

[0054] As Figures 18 to 25 shown, the second clamping and positioning mechanism 7 is composed of a second semi-circular positioning plate 701, a fifth connecting rod 702, a fourth electric cylinder 703, a fourth motor 704, a fixed seat 705, a sliding plate 706, a fifth motor 707, a second slide rail 708, a second fixed shaft 709, a second lead screw 710, a third lead screw 711, a second spring 712, a third slider 713, a sixth chute 714, an infrared pair emission sensor receiving end 715, a second arc-shaped sliding plate 716, a second arc-shaped rack 717, a third connecting shaft 718, a sixth gear 719, a second positioning rod 720, a sixth connecting rod 721, a fifth electric cylinder 722, a seventh chute 723, a second anti-collision pad 724, a fourth slider 725, and an eighth chute 726.

[0055] The second clamping and positioning mechanism 7 is as follows: A fourth electric cylinder 703 is provided on the first support frame 1. The output end of the fourth electric cylinder 703 is fixedly connected to the third slider 713. The third slider 713 is connected to the first support frame 1 through the second spring 712. Sixth chutes 714 are respectively machined on the upper and lower sides of the third slider 713. Second slide rails 708 for slidingly connecting with the sixth chutes 714 in the horizontal direction are provided on the first support frame 1. Both sides of the third slider 713 are respectively rotatably connected to one end of a fifth connecting rod 702. The other end of each fifth connecting rod 702 is respectively rotatably connected to the second semi-circular positioning plate 701. The two second semi-circular positioning plates 701 move and combine to form an upper ring-shaped positioning plate. A plurality of infrared pair emission sensor receiving ends 715 are uniformly arranged in the circumferential direction at the bottom of the upper ring-shaped positioning plate. Each infrared pair emission sensor receiving end 715 respectively receives the infrared light emitted by the corresponding infrared pair emission sensor transmitting end 511. A second fixed shaft 709 is provided on the first support frame 1. The second fixed shaft 709 is respectively rotatably connected to one end of the two second semi-circular positioning plates 701. A second anti-collision pad 724 is provided at the other end of one of the second semi-circular positioning plates 701.

[0056] A fifth electric cylinder 722 is provided on the first support frame 1. The output end of the fifth electric cylinder 722 is fixedly connected to the bottom of the fourth slider 725. An eighth chute 726 for sliding connection with the fourth slider 725 in the horizontal direction is machined on the first support frame 1. Both sides of the fourth slider 725 are respectively rotatably connected to one end of a sixth connecting rod 721. A seventh chute 723 for sliding connection with the second arc-shaped slide plate 716 in the circumferential direction is machined on each second semi-circular positioning plate 701. The other end of each sixth connecting rod 721 is respectively rotatably connected to one end of a second semi-circular positioning plate 701. A second arc-shaped rack 717 is provided on each second arc-shaped slide plate 716. A plurality of second positioning rods 720 are evenly threadedly connected in the circumferential direction of the upper ring-shaped positioning plate. The plurality of second positioning rods 720 abut against the outer circumferential side wall of the second concrete pipe pile 8 and clamp the second concrete pipe pile 8. Each second positioning rod 720 is respectively fixedly connected to a third connecting shaft 718. A sixth gear 719 meshing and driving with the second arc-shaped rack 717 is provided on each third connecting shaft 718.

[0057] A fixed seat 705 is provided at the top of the second support frame 2. A fourth motor 704 is provided on the fixed seat 705. The output shaft of the fourth motor 704 is fixedly connected to one end of a second lead screw 710. The second lead screw 710 is rotatably connected to the fixed seat 705. The second lead screw 710 is threadedly connected to a sliding plate 706. The sliding plate 706 is located above the fixed seat 705 and below the first support frame 1. A fifth motor 707 is provided on the sliding plate 706. The output shaft of the fifth motor 707 is fixedly connected to one end of a third lead screw 711. The third lead screw 711 is threadedly connected to the bottom of the first support frame 1. The third lead screw 711 is rotatably connected to the sliding plate 706.

[0058] The welding method of a prestressed concrete pipe pile connection intelligent welding device in this embodiment includes the following steps: S1. The first clamping and positioning mechanism 5 clamps and positions the first concrete pipe pile 4: Place the first concrete pipe pile 4 between two first semi-circular positioning plates 506. The output end of the first electric cylinder 507 drives the first slider 515 to slide horizontally. The first sliding grooves 516 on the upper and lower sides of the first slider 515 slide horizontally on the upper inner side and lower inner side first sliding rails 510 of the third support frame 3. The first slider 515 drives the two first semi-circular positioning plates 506 to move through the second connecting rods 513 on both sides. The movement of the two first semi-circular positioning plates 506 combines into a lower circular ring positioning plate. The first concrete pipe pile 4 is located in the middle of the lower circular ring positioning plate. The output end of the second electric cylinder 508 drives the second slider 519 to slide horizontally on the third sliding groove 520 of the third support frame 3. The second slider 519 drives the first arc-shaped sliding plate 504 to slide in the second sliding groove 517 of the first semi-circular positioning plate 506 through the first connecting rods 512 on both sides. The first arc-shaped sliding plate 504 drives the first arc-shaped rack 505 to move. The first arc-shaped rack 505 drives a plurality of first gears 502 to rotate respectively through meshing transmission with the plurality of first gears 502. Each first gear 502 drives the first positioning rod 501 to rotate through the first connecting shaft 503. The plurality of first positioning rods 501 move to abut against the outer circumferential side wall of the first concrete pipe pile 4 and clamp and position the first concrete pipe pile 4. S2. The second clamping and positioning mechanism 7 clamps and positions the second concrete pipe pile 8 to ensure that the vertical center line of the second concrete pipe pile 8 and the vertical center line of the first concrete pipe pile 4 are the same vertical line: Place the second concrete pipe pile 8 between two second semi-circular positioning plates 701. The output end of the fourth electric cylinder 703 drives the third slider 713 to slide horizontally. The sixth sliding grooves 714 on the upper and lower sides of the third slider 713 slide horizontally on the upper side and lower side second sliding rails 708 of the first support frame 1. The third slider 713 drives the two second semi-circular positioning plates 701 to move through the fifth connecting rods 702 on both sides. The movement of the two second semi-circular positioning plates 701 combines into an upper circular ring positioning plate. The second concrete pipe pile 8 is located in the middle of the upper circular ring positioning plate. The output end of the fifth electric cylinder 722 drives the fourth slider 725 to slide horizontally on the eighth sliding groove 726 of the first support frame 1. The fourth slider 725 drives the second arc-shaped sliding plate 716 to slide in the seventh sliding groove 723 of the second semi-circular positioning plate 701 through the sixth connecting rods 721 on both sides. The second arc-shaped sliding plate 716 drives the second arc-shaped rack 717 to move. The second arc-shaped rack 717 drives a plurality of sixth gears 719 to rotate respectively through meshing transmission with the plurality of sixth gears 719. Each sixth gear 719 drives the second positioning rod 720 to rotate through the third connecting shaft 718. The plurality of second positioning rods 720 move to abut against the outer circumferential side wall of the second concrete pipe pile 8 and clamp and position the second concrete pipe pile 8.

[0059] The output end of the fourth motor 704 drives the second lead screw 710 to rotate. The sliding plate 706 slides on the second lead screw 710 along the first horizontal direction. The sliding plate 706 drives the first support frame 1 and the second clamping and positioning mechanism 7 to move along the first horizontal direction. The output shaft of the fifth motor 707 drives the third lead screw 711 to rotate. The first support frame 1 slides on the third lead screw 711 along the second horizontal direction. The first support frame 1 drives the second clamping and positioning mechanism 7 to move along the second horizontal direction. The straight line where the first horizontal movement direction is located is perpendicular to the straight line where the second horizontal movement direction is located. The positions of the first support frame 1 and the second clamping and positioning mechanism 7 are adjusted to ensure that the infrared receiving end 715 of the infrared pair sensor on the second semi-circular positioning plate 701 receives the infrared light from the infrared transmitting end 511 of the corresponding infrared pair sensor on the first semi-circular positioning plate 506, and to ensure that the vertical center line of the second concrete pipe pile 8 and the vertical center line of the first concrete pipe pile 4 are the same vertical line.

[0060] S3. The welding structure 6 welds the connection between the second concrete pipe pile 8 and the first concrete pipe pile 4: The output end of the third electric cylinder 601 drives the two-sided third connecting rods 606 to move through the first connecting plate 607. Each third connecting rod 606 drives the second connecting shaft 605 to rotate on the second support frame 2 respectively. Each second connecting shaft 605 drives the semi-circular fixing plate 604 to move through the second connecting plate 628 respectively. The two semi-circular fixing plates 604 are combined into a circular fixing ring. The semi-circular racks 603 on the two semi-circular fixing plates 604 are combined to form a gear ring. The output shaft of the first motor 608 drives the second gear 612 to rotate. The second gear 612 meshes and drives with the gear ring. The second gear 612 drives the welding torch 610 on the sliding frame 602 to make a circular motion. The welding torch 610 welds the connection between the second concrete pipe pile 8 and the first concrete pipe pile 4 during the circular motion.

[0061] The output shaft of the second motor 609 drives the third gear 615 to rotate. The third gear 615 drives the fourth gear 616 to rotate through meshing transmission with the fourth gear 616. The fourth gear 616 drives the first lead screw 617 to rotate. The sliding plate 611 moves on the first lead screw 617 along the horizontal direction to adjust the position of the welding torch 610 on the sliding plate 611 in the horizontal direction. The output shaft of the third motor 620 drives the fifth gear 621 to rotate. The fifth gear 621 drives the incomplete gear 624 to rotate through meshing transmission with the incomplete gear 624. The incomplete gear 624 drives the welding torch 610 to swing through the fourth connecting rod 625 and the first connecting ring 619 in sequence. The sliding rods 623 on both sides of the second connecting ring 622 on the welding torch 610 slide in the first sliding hole 618 along the vertical direction to adjust the position of the welding torch 610 in the vertical direction.

[0062] The above is only a preferred embodiment of the present invention and is not used to limit the protection scope of the present invention.

Claims

1. An intelligent welding device for connecting prestressed concrete pipe piles, characterized in that: A first support frame (1), a second support frame (2) and a third support frame (3) are arranged on the support, a second clamping and positioning mechanism (7) for clamping a second concrete pipe pile (8) is arranged on the first support frame (1), a first clamping and positioning mechanism (5) for clamping a first concrete pipe pile (4) is arranged on the third support frame (3), and a welding structure (6) for welding a connection between the second concrete pipe pile (8) and the first concrete pipe pile (4) is arranged on the second support frame (2); The welding structure (6) is as follows: a third electric cylinder (601) is arranged on the second support frame (2); the output end of the third electric cylinder (601) is fixedly connected to the first connecting plate (607); a third fixed shaft (626) is arranged on the first connecting plate (607); two third connecting rods (606) located on both sides of the first connecting plate (607) are rotatably mounted on the third fixed shaft (626); one end of each third connecting rod (606) is respectively processed with a second sliding hole (627) slidably connected to the third fixed shaft (626); the other end of each third connecting rod (606) is respectively fixedly mounted with a second connecting shaft (605); each The second connecting shafts (605) are respectively fixedly connected to one end of the second connecting plates (628), each second connecting shaft (605) is respectively rotatably connected to the second support frame (2), and each second connecting plate (628) is respectively provided with a semicircular fixing plate (604) at the other end, and the two semicircular fixing plates (604) move to merge to form a circular fixing ring, and the circular fixing ring is located outside the outer circumference of the first concrete pipe pile (4), and a sliding frame (602) is slidably connected to the circular fixing ring along the circumferential direction, and a welding gun (610) is provided on the sliding frame (602) for welding the connection between the second concrete pipe pile (8) and the first concrete pipe pile (4) 2. The intelligent welding device for connecting prestressed concrete pipe piles according to claim 1 is characterized in that: The first concrete pipe pile (4) is located directly below the second concrete pipe pile (8), the mid-perpendicular line of the second concrete pipe pile (8) and the mid-perpendicular line of the first concrete pipe pile (4) are the same vertical line, and the welding structure (6) is located between the first clamping and positioning mechanism (5) and the second clamping and positioning mechanism (7).

3. The intelligent welding device for connecting prestressed concrete pipe piles according to claim 1 is characterized in that: The sliding frame (602) is provided with a first motor (608) for driving the second gear (612) to rotate, each semicircular fixed plate (604) is provided with a semicircular rack (603) in the circumferential direction, the two semicircular racks (603) are combined to form a gear ring, the second gear (612) is meshed with the gear ring for transmission, the sliding frame (602) is processed with a fourth slide groove (613) which is slidably connected to the upper side of the semicircular fixed plate (604) along the circumferential direction, and the sliding frame (602) is processed with a fifth slide groove (614) which is slidably connected to the lower side of the semicircular fixed plate (604) along the circumferential direction.

4. The intelligent welding device for connecting prestressed concrete pipe piles according to claim 1 is characterized in that: The sliding frame (602) is provided with a second motor (609), the output shaft of the second motor (609) is fixedly connected to the third gear (615), a first screw rod (617) is rotatably mounted on the sliding frame (602) in a horizontal direction, a fourth gear (616) meshing with the third gear (615) is provided at one end of the first screw rod (617), and the first screw rod (617) is threadedly connected to the slide plate (611).

5. The intelligent welding device for connecting prestressed concrete pipe piles according to claim 1 is characterized in that: The welding gun (610) is provided with a first connecting ring (619), and fourth connecting rods (625) are respectively provided on both sides of the first connecting ring (619), wherein an incomplete gear (624) is provided on one of the fourth connecting rods (625); a third motor (620) for driving a fifth gear (621) to rotate is provided on the slide plate (611), and the fifth gear (621) is meshed with the incomplete gear (624) for transmission; two second support plates (630) are provided on one side of the slide plate (611), and each fourth connecting rod (625) is rotatably connected to a second support plate (630); The welding gun (610) is provided with a second connecting ring (622), and sliding rods (623) are respectively provided on both sides of the second connecting ring (622). Two first supporting plates (629) are provided on the other side of the sliding plate (611), and each first supporting plate (629) is respectively processed with a first sliding hole (618) that is slidably connected to the sliding rod (623) in a vertical direction.

6. The intelligent welding device for connecting prestressed concrete pipe piles according to claim 1 is characterized in that: The first clamping and positioning mechanism (5) comprises: a first electric cylinder (507) is arranged on the third support frame (3); the output end of the first electric cylinder (507) is fixedly connected to the first slider (515); the first slider (515) is connected to the third support frame (3) via a first spring (514); the first slider (515) is respectively processed with a first slide groove (516) on the upper side and the lower side; the third support frame (3) is provided with a first slide rail (510) which is slidably connected to the first slide groove (516) in a horizontal direction; both sides of the first slider (515) are respectively connected to the second connecting rod (513) One end is rotatably connected, and the other end of each second connecting rod (513) is respectively rotatably connected to the first semicircular positioning plate (506), and the two first semicircular positioning plates (506) are combined to form a lower circular ring positioning plate, and a plurality of infrared counter-radiation sensor transmitting ends (511) are evenly arranged in the circumferential direction of the top of the lower circular ring positioning plate, and a first fixed shaft (509) is arranged on the third support frame (3), and the first fixed shaft (509) is respectively rotatably connected to one end of the two first semicircular positioning plates (506), and a first anti-collision pad (518) is arranged at the other end of one of the first semicircular positioning plates (506); The third support frame (3) is provided with a second electric cylinder (508), the output end of the second electric cylinder (508) is fixedly connected to the top of the second slider (519), the third support frame (3) is processed with a third slide groove (520) connected to the second slider (519) in a horizontal sliding direction, both sides of the second slider (519) are respectively rotatably connected to one end of the first connecting rod (512), each first semicircular positioning plate (506) is respectively processed with a second slide groove (517) connected to the first arc-shaped slider (504) in a circumferential direction, and the other end of each first connecting rod (512) is respectively connected to the first semicircular positioning plate (506). One end of the arc-shaped slide plate (504) is rotatably connected, and each first arc-shaped rack (505) is respectively provided on the slide plate. A plurality of first positioning rods (501) are evenly threadedly connected in the circumferential direction of the lower annular positioning plate. The plurality of first positioning rods (501) respectively contact with the outer circumferential side wall of the first concrete pipe pile (4) and clamp the first concrete pipe pile (4). Each first positioning rod (501) is respectively fixedly connected to a first connecting shaft (503), and each first connecting shaft (503) is respectively provided with a first gear (502) meshing with the first arc-shaped rack (505) for transmission.

7. The prestressed concrete pipe pile connection intelligent welding device according to claim 1 is characterized in that: The second clamping and positioning mechanism (7) comprises: a fourth electric cylinder (703) is arranged on the first support frame (1); the output end of the fourth electric cylinder (703) is fixedly connected to the third slider (713); the third slider (713) is connected to the first support frame (1) via a second spring (712); the third slider (713) is respectively processed with a sixth slide groove (714) on the upper side and the lower side; the first support frame (1) is provided with a second slide rail (708) which is respectively connected to the sixth slide groove (714) in a horizontal direction for sliding; both sides of the third slider (713) are respectively connected to the fifth connecting rod (702) ) is rotatably connected at one end, the other end of each fifth connecting rod (702) is respectively rotatably connected to the second semicircular positioning plate (701), the two second semicircular positioning plates (701) are moved and combined to form an upper circular ring positioning plate, a plurality of infrared counter-radiation sensor receiving ends (715) are evenly arranged in the circumferential direction of the bottom of the upper circular ring positioning plate, a second fixed shaft (709) is arranged on the first support frame (1), the second fixed shaft (709) is respectively rotatably connected to one end of the two second semicircular positioning plates (701), and a second anti-collision pad (724) is arranged at the other end of one of the second semicircular positioning plates (701); The first support frame (1) is provided with a fifth electric cylinder (722), the output end of the fifth electric cylinder (722) is fixedly connected to the bottom of the fourth slider (725), the first support frame (1) is processed with an eighth slide groove (726) connected to the fourth slider (725) in a horizontal sliding direction, both sides of the fourth slider (725) are respectively connected to one end of the sixth connecting rod (721) for rotation, each second semicircular positioning plate (701) is respectively processed with a seventh slide groove (723) connected to the second arc-shaped slider (716) in a circumferential direction for rotation, and the other end of each sixth connecting rod (721) is respectively connected to the first semicircular positioning plate (701) for rotation. One end of the two semicircular positioning plates (701) is rotatably connected, and each second arc-shaped slide plate (716) is respectively provided with a second arc-shaped rack (717). The upper annular positioning plate is evenly threadedly connected with a plurality of second positioning rods (720) in the circumferential direction. The plurality of second positioning rods (720) abut against the outer circumferential side wall of the second concrete pipe pile (8) and clamp the second concrete pipe pile (8). Each second positioning rod (720) is respectively fixedly connected to a third connecting shaft (718), and each third connecting shaft (718) is respectively provided with a sixth gear (719) meshing with the second arc-shaped rack (717) for transmission.

8. The intelligent welding device for connecting prestressed concrete pipe piles according to claim 1 is characterized in that: A fixing seat (705) is arranged at the top of the second support frame (2), a fourth motor (704) is arranged on the fixing seat (705), an output shaft of the fourth motor (704) is fixedly connected to one end of the second screw rod (710), the second screw rod (710) is rotatably connected to the fixing seat (705), the second screw rod (710) is threadedly connected to the sliding plate (706), the sliding plate (706) is located above the fixing seat (705), the sliding plate (706) is located below the first support frame (1), a fifth motor (707) is arranged on the sliding plate (706), an output shaft of the fifth motor (707) is fixedly connected to one end of the third screw rod (711), the third screw rod (711) is threadedly connected to the bottom of the first support frame (1), and the third screw rod (711) is rotatably connected to the sliding plate (706).

9. A welding method for the prestressed concrete pipe pile connection intelligent welding device according to claim 1, characterized in that: The following steps are involved: S1, a first clamping and positioning mechanism (5) clamps and positions a first concrete pipe pile (4); S2, the second clamping and positioning mechanism (7) clamps and positions the second concrete pipe pile (8) to ensure that the midline of the second concrete pipe pile (8) and the midline of the first concrete pipe pile (4) are on the same vertical line; S3, the welding structure (6) welds the connection between the second concrete pipe pile (8) and the first concrete pipe pile (4): the output end of the third electric cylinder (601) drives the third connecting rods (606) on both sides to move through the first connecting plate (607), each third connecting rod (606) drives the second connecting shaft (605) to rotate on the second support frame (2), each second connecting shaft (605) drives the semicircular fixing plate (604) to move through the second connecting plate (628), and the two semicircular fixing plates (60 4) are combined into a circular fixed ring, the semicircular racks (603) on the two semicircular fixed plates (604) are combined to form a gear ring, the output shaft of the first motor (608) drives the second gear (612) to rotate, the second gear (612) is meshed with the gear ring for transmission, the second gear (612) drives the welding gun (610) on the sliding frame (602) to make a circular motion, and the welding gun (610) welds the connection between the second concrete pipe pile (8) and the first concrete pipe pile (4) with the welding structure (6) during the circular motion; The output shaft of the second motor (609) drives the third gear (615) to rotate. The third gear (615) drives the fourth gear (616) to rotate by meshing with the fourth gear (616). The fourth gear (616) drives the first screw rod (617) to rotate. The slide plate (611) moves in the horizontal direction on the first screw rod (617) to adjust the horizontal position of the welding gun (610) on the slide plate (611). The output shaft of the third motor (620) drives the fifth gear (621) to rotate. The fifth gear (621) drives the incomplete gear (624) to rotate by meshing with the incomplete gear (624). The incomplete gear (624) drives the welding gun (610) to swing in sequence through the fourth connecting rod (625) and the first connecting ring (619). The sliding rods (623) on both sides of the second connecting ring (622) on the welding gun (610) slide in the first sliding hole (618) in the vertical direction to adjust the vertical position of the welding gun (610).

10. The welding method of the prestressed concrete pipe pile connection intelligent welding device according to claim 9, characterized in that: The method for clamping and positioning the first concrete pipe pile (4) by the first clamping and positioning mechanism (5) in S1 is as follows: the first concrete pipe pile (4) is placed between two first semicircular positioning plates (506), the output end of the first electric cylinder (507) drives the first slider (515) to slide in the horizontal direction, the first slide groove (516) at the bottom of the first slider (515) slides in the horizontal direction on the first slide rail (510) of the third support frame (3), the first slider (515) drives the first semicircular positioning plates (506) on both sides to move through the second connecting rods (513) on both sides, the two first semicircular positioning plates (506) move and merge into a lower circular positioning plate, the first concrete pipe pile (4) is located in the middle of the lower circular positioning plate, and the output end of the second electric cylinder (508) drives the second slider (519) in the first The third slide groove (520) of the three support frames (3) slides in the horizontal direction, the second slide block (519) drives the first arc-shaped slide plate (504) to slide in the second slide groove (517) of the first semicircular positioning plate (506) through the first connecting rods (512) on both sides, the first arc-shaped slide plate (504) drives the first arc-shaped rack (505) to move, the first arc-shaped rack (505) drives the plurality of first gears (502) to rotate through meshing transmission with the plurality of first gears (502), each first gear (502) drives the first positioning rod (501) to rotate through the first connecting shaft (503), the plurality of first positioning rods (501) move to contact the outer circumferential side wall of the first concrete pipe pile (4), and the first clamping and positioning mechanism (5) clamps and positions the first concrete pipe pile (4); The method for clamping and positioning the second concrete pipe pile (8) by the second clamping and positioning mechanism (7) in S2 is as follows: the second concrete pipe pile (8) is placed between the two second semicircular positioning plates (701), the output end of the fourth electric cylinder (703) drives the third slider (713) to slide in the horizontal direction, the sixth slide groove (714) at the bottom of the third slider (713) slides in the horizontal direction on the second slide rail (708) of the first support frame (1), the third slider (713) drives the second semicircular positioning plates (701) on both sides to move through the fifth connecting rod (702) on both sides, the two second semicircular positioning plates (701) move and merge into an upper circular positioning plate, the second concrete pipe pile (8) is located in the middle of the upper circular positioning plate, the output end of the fifth electric cylinder (722) drives the fourth slider ( 725) slides in the horizontal direction on the eighth slide groove (726) of the first support frame (1), the fourth slide block (725) drives the second arc-shaped slide plate (716) to slide in the seventh slide groove (723) of the second semicircular positioning plate (701) through the sixth connecting rods (721) on both sides, the second arc-shaped slide plate (716) drives the second arc-shaped rack (717) to move, the second arc-shaped rack (717) drives the plurality of sixth gears (719) to rotate through meshing transmission with the plurality of sixth gears (719), each of the sixth gears (719) drives the second positioning rod (720) to rotate through the third connecting shaft (718), and the plurality of second positioning rods (720) move to contact the outer circumferential side wall of the second concrete pipe pile (8) and clamp and position the second concrete pipe pile (8); The output end of the fourth motor (704) drives the second screw rod (710) to rotate, the sliding plate (706) slides on the second screw rod (710) along the first horizontal direction, the sliding plate (706) drives the first support frame (1) and the second clamping and positioning mechanism (7) to move along the first horizontal direction, the output shaft of the fifth motor (707) drives the third screw rod (711) to rotate, the first support frame (1) slides on the third screw rod (711) along the second horizontal direction, and the first support frame (1) drives the second clamping and positioning mechanism (7) Move along the second horizontal direction, the straight line in the first horizontal movement direction and the straight line in the second horizontal movement direction are perpendicular to each other, and the positions of the first support frame (1) and the second clamping positioning mechanism (7) are adjusted to ensure that the infrared counter-radiation sensor receiving end (715) of the second semicircular positioning plate (701) receives the infrared light of the infrared counter-radiation sensor transmitting end (511) on the first semicircular positioning plate (506), and to ensure that the mid-point perpendicular line of the second concrete pipe pile (8) and the mid-point perpendicular line of the first concrete pipe pile (4) are the same vertical line.

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