Flexible robot for welding bent section pipeline

Abstract

The invention relates to the field of welding robots, in particular to a bending section pipeline welding flexible robot. Comprising a flexible assembly, the flexible assembly is in transmission connection with a compatible assembly, a plurality of welding assemblies are distributed on the outer wall of the compatible assembly in an annular array mode, and an auxiliary assembly is installed on the top of the compatible assembly; a grinding plate is driven to grind a pipeline port so as to improve the subsequent welding quality, a cooling cleaning solution is sprayed through a micro pump in the rotating process, the problem of subsequent spark splashing is avoided, when the inner wall of the port is provided with an overlapping object, the numerical value of a third pressure sensor can be driven to change, and the welding quality is improved. And in the subsequent welding process, distance monitoring is conducted through the two sets of distance sensors, the problem that the welding precision is reduced due to deviation in the welding process is solved, and the working effect of the flexible robot is improved while the welding effect of the bent section is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of welding robots, and in particular relates to a flexible robot for welding curved pipes. Background Art

[0002] In order to avoid gaps or holes in the pipe joints as much as possible, welding is used to weld the pipe joints.

[0003] After searching, in the prior art, Chinese patent publication number: CN105834586A, publication date: 2016-08-10, discloses a pipeline internal laser follow-up welding robot, including a weld welding device; a first transmission device connected to the weld welding device; a front end machine base connected to the first transmission device; a first reduction motor is arranged in the front end machine base; one end of the connecting device is movably connected to the front end machine base; a crawler walking device is movably connected to the other end of the connecting device; one end of the pushing device is movably connected to the crawler walking device; and the driving device is movably connected to the other end of the pushing device. The above-mentioned embodiment of the pipeline internal laser follow-up welding robot has a large welding penetration and a fast welding speed, provides an accurate welding trajectory guide for the laser welding head, and ensures the quality of laser root welding.

[0004] But the device still has the following defects:

[0005] It is impossible to use flexible materials to connect the connection ends of the robot, making it impossible to ensure that the robot can always maintain a close fit when climbing the pipeline, and it is impossible to ensure that the welding direction is vertical or that a certain angle is maintained at the welding point, thereby reducing the working effect of the pipeline welding flexible robot. Summary of the invention

[0006] In view of the above problems, the present invention provides a flexible robot for welding curved pipes, comprising a flexible component, a compatible component is connected to the flexible component in a transmission manner, a plurality of welding components are distributed in a circular array on the outer wall of the compatible component, and an auxiliary component is installed on the top;

[0007] The welding assembly includes a plurality of groups of central control structures, each group of the central control structures has an output end electrically connected to a group of welding structures, and each group of the central control structures has a group of first distance sensors capable of distance monitoring installed on the top;

[0008] The auxiliary component includes several groups of fan ring disks, each group of the fan ring disks is provided with a group of cavities on the top, a group of grinding plates is installed on the bottom inner wall of each group of the cavities, several groups of third pressure sensors that can conduct when the values ​​change are evenly installed on the inner walls of each group of the cavities, each group of the third pressure sensors is installed with a group of micro pumps that can spray cooling cleaning solution, and a group of second distance sensors that can monitor the distance are installed on the bottom of each group of the fan ring disks.

[0009] Furthermore, the flexible component includes a first disc, a first electric push rod is installed on the top of the first disc, a first motor is installed on the output end of the first electric push rod, a plurality of groups of clamping blocks are movably connected in a ring array on the outer wall of the first disc, a group of second electric push rods is installed on one side wall of each group of the clamping blocks, a group of first connecting plates is installed on the output end of each group of the second electric push rods, and a group of flexible plates is installed on one side wall of each group of the first connecting plates.

[0010] Furthermore, a group of third electric push rods is installed on the top of each group of flexible plates, a group of annular plates is installed on the output end of each group of third electric push rods, a group of liquid storage tanks is installed on the outer wall of each group of annular plates, a number of groups of extrusion head structures are evenly spaced on the outer wall of each group of liquid storage tanks, and a number of groups of first pressure sensors are evenly spaced on the top of each group of liquid storage tanks.

[0011] Furthermore, the compatible component includes a second disc, the bottom of which is transmission connected to the output end of the first motor, a second connecting plate is installed on the top of the second disc, a second motor is installed on a side wall of the second connecting plate, and a transmission tube is transmission connected to the output end of the second motor.

[0012] Furthermore, a sleeve ring is sleeved on the outer wall of the transmission tube, a fourth electric push rod is installed on the outer wall of the sleeve ring, an electric slide is installed on the output end of the fourth electric push rod, and a third disc is transmission-connected to the output end of the electric slide.

[0013] Furthermore, the welding assembly also includes several groups of third connecting plates, one end of each group of the third connecting plates is installed on the outer wall of the third disk, a group of sleeve tubes is installed on one side wall of each group of the third connecting plates, one end of a group of compression springs is installed on the inner wall of each group of the sleeve tubes, a group of sliding rods is installed on the other end of each group of the compression springs, a group of second pressure sensors is installed at the junction of each group of the sliding rods and the compression springs, and one end of each group of the central control structure is installed on one side wall of the sliding rod.

[0014] Furthermore, a group of fifth electric push rods are installed on one side wall of each group of the third connecting plates, a group of first electromagnetic blocks are installed on the output end of each group of the fifth electric push rods, and a group of second electromagnetic blocks are installed on the outer wall of each group of the sliding rods, and the first electromagnetic blocks are magnetically connected to the second electromagnetic blocks.

[0015] Furthermore, the auxiliary component also includes a protective shell, the bottom of which is mounted on the top of the third disk, and a sixth electric push rod is mounted on the inner wall of the bottom of the protective shell.

[0016] Furthermore, a third motor is installed on the output end of the sixth electric push rod, and a fourth disc is transmission-connected to the output end of the third motor.

[0017] Furthermore, a plurality of groups of seventh electric push rods are distributed in a circular array on the outer wall of the fourth disc, a group of fourth connecting plates are installed on the output end of each group of the seventh electric push rods, and one end of each group of the fan ring discs is installed on a side wall of the fourth connecting plate.

[0018] The beneficial effects of the present invention are:

[0019] 1. Drive the grinding plate to grind the pipe port to improve the subsequent welding quality. During the rotation, a cooling cleaning solution is sprayed through a micro pump to avoid the problem of subsequent spark splashing. When there are overlapping objects on the inner wall of the port, the value of the third pressure sensor will change. In the subsequent welding process, two sets of distance sensors are used for distance monitoring to avoid the problem of reduced welding accuracy caused by offset during the welding process. This improves the welding effect of the bending section and the working effect of the flexible robot.

[0020] 2. Start the second motor to drive the transmission tube to rotate. The transmission tube also drives several groups of welding structures installed on the third disc to rotate. This is very suitable for welding curved pipes. While the angle is rotating, the electric slide can be used in conjunction with the fourth electric push rod to fine-tune the distance, thereby avoiding collision between the welding structure and the inner wall of the pipe and the problem of being unable to rotate during rotation, thereby improving the flexibility of welding angle adjustment.

[0021] 3. When encountering an irregular pipeline, such as a pipeline with a welding end port smaller than the other end port, the fifth electric push rod can be started to drive the second electromagnetic block to move toward the third connecting plate, breaking away from the magnetic connection between the first electromagnetic block and the second electromagnetic block, and then the first electric push rod is started to drive the welding structure to move up and down. The output end of the welding structure will rub when it contacts the inner wall of the pipeline to scrape off residual impurities after welding, and due to the buffering of the compression spring, the welding structure will not have structural damage, thereby improving the protection effect of the welding structure and the precision effect of the next welding work.

[0022] 4. Start the third electric push rod to drive the annular plate to rise. During the rising process of the annular plate, several groups of extruder head structures are squeezed against the inner wall, so that the cleaning liquid in the liquid storage tank is sprayed on the inner wall of the pipeline for cleaning, and the ports that need to be welded later are cleaned, thereby improving the cleaning effect of the dark area of ​​the pipeline; and because a first pressure sensor is provided at the top edge of the liquid storage tank, when there are irregular overlaps at the port, the first pressure sensor on the top of the liquid storage tank cannot rise for cleaning when it detects the overlaps, thereby reducing the subsequent welding effect and the subsequent use effect of the pipeline.

[0023] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of a flexible robot according to an embodiment of the present invention is shown;

[0026] Figure 2 A schematic diagram of the structure of compatible components according to an embodiment of the present invention is shown;

[0027] Figure 3 A schematic diagram of the structure of a flexible component according to an embodiment of the present invention is shown;

[0028] Figure 4 A schematic diagram of the structure of a third disk according to an embodiment of the present invention is shown;

[0029] Figure 5 A schematic structural diagram of a welding assembly according to an embodiment of the present invention is shown;

[0030] Figure 6 A schematic cross-sectional view of a sleeve according to an embodiment of the present invention is shown;

[0031] Figure 7 A schematic diagram of the structure of an auxiliary component according to an embodiment of the present invention is shown.

[0032] In the figure: 1. flexible component; 101. first disc; 102. first electric push rod; 103. first motor; 104. clamping block; 105. second electric push rod; 106. first connecting plate; 107. flexible plate; 108. third electric push rod; 109. annular plate; 110. liquid storage tank; 111. extrusion head structure; 112. first pressure sensor; 2. compatible component; 201. second disc; 202. second connecting plate; 203. second motor; 204. transmission tube; 205. sleeve ring; 206. fourth electric push rod; 207. electric slide; 208. third disc; 3. welding component; 301. third connecting plate; 302. second connecting plate; 303. second motor; 304. transmission tube; 305. sleeve ring; 306. fourth electric push rod; 307. electric slide; 308. third disc; 309. welding component; 310. third connecting plate; 311. third connecting plate; 312. third connecting plate; 313. third connecting plate; 314. third connecting plate; 315. third connecting plate; 316. third connecting plate; 317. third connecting plate; 318. third connecting plate; 319. third connecting plate; 320. third connecting plate; 321. third connecting plate; 322. third connecting plate; 323. third connecting plate; 324. third connecting plate; 325. third connecting plate; 326. third connecting plate; 327. third connecting plate; 328. third connecting plate; 329. third connecting plate; 330. third connecting plate; 331. third connecting plate; 332. third connecting plate; 333. third connecting plate; 334. third connecting plate; 335. third connecting plate; Plate; 302, sleeve; 303, compression spring; 304, sliding rod; 305, second pressure sensor; 306, central control structure; 307, welding structure; 308, first distance sensor; 309, fifth electric push rod; 310, first electromagnetic block; 311, second electromagnetic block; 4, auxiliary components; 401, protective shell; 402, sixth electric push rod; 403, third motor; 404, fourth disc; 405, seventh electric push rod; 406, fourth connecting plate; 407, fan ring disc; 408, cavity; 409, grinding plate; 410, third pressure sensor; 411, micro pump; 412, second distance sensor. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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.

[0034] The embodiment of the present invention provides a flexible robot for welding a curved pipe. The flexible robot comprises a flexible component 1, for example, Figure 1 and Figure 2 As shown, the flexible component 1 is drivingly connected to a compatible component 2, a plurality of welding components 3 are distributed in a ring array on the outer wall of the compatible component 2, and an auxiliary component 4 is installed on the top.

[0035] For example, Figure 3As shown, the flexible component 1 includes a first disc 101, a first electric push rod 102 is installed on the top of the first disc 101, a first motor 103 is installed on the output end of the first electric push rod 102, a plurality of groups of clamping blocks 104 are movably clamped in a ring array on the outer wall of the first disc 101, a group of second electric push rods 105 are installed on one side wall of each group of the clamping blocks 104, a group of first connecting plates 106 are installed on the output end of each group of the second electric push rods 105, and each group of the first connecting plates 106 is installed on the output end of each group of the first connecting plates 106. A group of flexible plates 107 are installed on one side wall of the plate 106, a group of third electric push rods 108 are installed on the top of each group of the flexible plates 107, a group of annular plates 109 are installed on the output end of each group of the third electric push rods 108, a group of liquid storage tanks 110 are installed on the outer wall of each group of the annular plates 109, a plurality of groups of extrusion head structures 111 are evenly spaced on the outer wall of each group of the liquid storage tanks 110, and a plurality of groups of first pressure sensors 112 are evenly spaced on the top of each group of the liquid storage tanks 110.

[0036] When the flexible robot is welding a special-shaped pipe, it first places the first disc 101 in the pipe, then starts the second electric push rod 105 to push the flexible plate 107 to support the inner wall of the special-shaped pipe, so that it forms a stable support bracket. During the process, the output ends of several groups of extruder head structures 111 are in contact with the inner wall of the pipe, and then the third electric push rod 108 is started to drive the annular plate 109 to rise. During the rising process of the annular plate 109, several groups of extruder head structures 111 are squeezed with the inner wall. During the squeezing process, the cleaning liquid placed in the liquid storage tank 110 is sprayed on the inner wall of the pipe for cleaning, and the port that needs to be welded later is cleaned, thereby improving the cleaning effect of the dark area of ​​the pipe; and because the first pressure sensor 112 is provided at the top edge of the liquid storage tank 110, when there is an irregular overlap at the port, the first pressure sensor 112 at the top of the liquid storage tank 110 cannot rise for cleaning when it detects the overlap, thereby reducing the subsequent welding effect and the subsequent use effect of the pipe.

[0037] For example, Figure 4 As shown, the compatible component 2 includes a second disc 201, the bottom of the second disc 201 is transmission-connected to the output end of the first motor 103, a second connecting plate 202 is installed on the top of the second disc 201, a second motor 203 is installed on one side wall of the second connecting plate 202, a transmission tube 204 is transmission-connected to the output end of the second motor 203, a sleeve ring 205 is sleeved on the outer wall of the transmission tube 204, a fourth electric push rod 206 is installed on the outer wall of the sleeve ring 205, an electric slide 207 is installed on the output end of the fourth electric push rod 206, and a third disc 208 is transmission-connected to the output end of the electric slide 207.

[0038] When used for welding at different angles, the second motor 203 is started to drive the transmission tube 204 to rotate. The transmission tube 204 drives the several groups of welding structures 307 installed on the third disk 208 to rotate at the same time, which can be well suitable for curved pipe welding. While the angle is rotating, the electric slide 207 can cooperate with the fourth electric push rod 206 to fine-tune the distance, avoiding the problem of collision between the welding structure 307 and the inner wall of the pipe and the inability to rotate during rotation, thereby improving the flexibility of welding angle adjustment.

[0039] For example, Figure 5 and Figure 6 As shown, the welding assembly 3 includes a third connecting plate 301, one end of each group of the third connecting plates 301 is mounted on the outer wall of the third disc 208, a group of sleeve tubes 302 are mounted on one side wall of each group of the third connecting plates 301, one end of a group of compression springs 303 are mounted on the inner wall of each group of the sleeve tubes 302, a group of sliding rods 304 are mounted on the other end of each group of the compression springs 303, each group of the sliding rods 304 are slidably connected in the sleeve tube 302, a group of second pressure sensors 305 are mounted on the joints of each group of the sliding rods 304 and the compression springs 303, and each group of A group of central control structures 306 are installed on one side wall of the sliding rod 304, and a group of welding structures 307 are electrically connected to the output end of each group of the central control structures 306. A group of first distance sensors 308 are installed on the top of each group of the central control structures 306. A group of fifth electric push rods 309 are installed on one side wall of each group of the third connecting plates 301, and a group of first electromagnetic blocks 310 are installed on the output end of each group of the fifth electric push rods 309. A group of second electromagnetic blocks 311 are installed on the outer wall of each group of the sliding rods 304, and the first electromagnetic blocks 310 are magnetically connected to the second electromagnetic blocks 311.

[0040] When used for parallel welding, the first electric push rod 102 is started to drive several groups of welding structures 307 to rise to the welding port position, and then the fifth electric push rod 309 is started to drive the first electromagnetic block 310 and the second electromagnetic block 311 to be magnetically connected, and then the fifth electric push rod 309 is started to drive the welding structure 307 to move in the direction close to the port, and the compression spring 303 is stretched during the movement. When the welding structure 307 reaches the specified position, the welding work begins. Starting the first motor 103 to drive the second disc 201 to rotate can make the welding position more comprehensive, but when encountering an irregular pipe, it is like the welding end port is smaller than the other end. When the pipe at the mouth is connected, the fifth electric push rod 309 can be started to drive the second electromagnetic block 311 to move towards the third connecting plate 301, and the magnetic connection state between the first electromagnetic block 310 and the second electromagnetic block 311 can be separated after the welding structure 307 has cooled down. Then the first electric push rod 102 is started to drive the welding structure 307 to move up and down. The output end of the welding structure 307 will rub when it contacts the inner wall of the pipe to scrape off residual impurities after welding, and due to the buffering of the compression spring, the welding structure will not have structural damage, thereby improving the protection effect of the welding structure and the precision effect of the next welding work.

[0041] For example, Figure 7 As shown, the auxiliary component 4 includes a protective shell 401, the bottom of the protective shell 401 is installed on the top of the third disc 208, a sixth electric push rod 402 is installed on the inner wall of the bottom of the protective shell 401, a third motor 403 is installed on the output end of the sixth electric push rod 402, a fourth disc 404 is transmission-connected to the output end of the third motor 403, and a plurality of groups of seventh electric push rods 405 are distributed in a ring array on the outer wall of the fourth disc 404, and a group of seventh electric push rods 405 are installed on the output end of each group of the seventh electric push rods 405. There are four connecting plates 406, and a group of fan ring disks 407 are installed on one side wall of each group of the fourth connecting plates 406. A group of cavities 408 are opened on the top of each group of the fan ring disks 407. A group of grinding plates 409 are installed on the bottom inner wall of each group of the cavities 408. Several groups of third pressure sensors 410 are evenly installed on the inner wall of each group of the cavities 408. A group of micro pumps 411 are installed on each group of the third pressure sensors 410. A group of second distance sensors 412 are installed on the bottom of each group of the fan ring disks 407.

[0042] When used for right-angle welding of pipelines, the second motor 203 is started to drive several groups of welding structures 307 to rotate to a vertical position, and then the sixth electric push rod 402 is started to push several groups of fan ring disks 407 out of the pipeline, and then another group of pipeline ports to be welded are clamped in the cavity 408, and then the third motor 403 is started to drive several groups of fan ring disks 407 to rotate. While the fan ring disks 407 rotate, they drive the grinding plate 409 to grind the pipeline ports to improve the subsequent welding quality, and during the rotation, the micro pump 411 is used to spray a cooling and cleaning solution to avoid the problem of subsequent spark splashing, and when there are overlapping objects on the inner wall of the port, the value of the third pressure sensor 410 will change. In the subsequent welding process, the first distance sensor 308 and the second distance sensor 412 are used to monitor the distance to avoid the problem of reduced welding accuracy caused by offset during the welding process, thereby improving the welding effect of the bending section and the working effect of the flexible robot.

[0043] The grinding plate 409 is driven to grind the pipe port to improve the subsequent welding quality. During the rotation, the micro pump 411 is used to spray a cooling cleaning solution to avoid the problem of subsequent spark splashing. When there are overlapping objects on the inner wall of the port, the value of the third pressure sensor 410 will change. In the subsequent welding process, two sets of distance sensors are used to monitor the distance to avoid the problem of reduced welding accuracy caused by offset during the welding process, thereby improving the welding effect of the bending section and the working effect of the flexible robot.

[0044] Start the second motor 203 to drive the transmission tube 204 to rotate. When the transmission tube 204 rotates, it also drives the several groups of welding structures 307 installed on the third disk 208 to rotate, which can be well suitable for curved pipe welding. While the angle is rotating, the electric slide 207 can cooperate with the fourth electric push rod 206 to fine-tune the distance, avoiding the problem of collision between the welding structure 307 and the inner wall of the pipe and the inability to rotate during rotation, thereby improving the flexibility of welding angle adjustment.

[0045] When encountering an irregular pipe, such as a pipe with a welding end port smaller than the other end port, the fifth electric push rod 309 can be started to drive the second electromagnetic block 311 to move towards the third connecting plate 301, and disengage the magnetic connection between the first electromagnetic block 310 and the second electromagnetic block 311. Then the first electric push rod 102 is started to drive the welding structure 307 to move up and down. The output end of the welding structure 307 will rub when it contacts the inner wall of the pipe to scrape off residual impurities after welding. In addition, due to the buffering of the compression spring, the welding structure will not have structural damage, which improves the protection effect of the welding structure and improves the precision effect of the next welding work.

[0046] The third electric push rod 108 is started to drive the annular plate 109 to rise. During the rising process of the annular plate 109, several groups of extruder head structures 111 are squeezed against the inner wall, so that the cleaning liquid in the liquid storage tank 110 is sprayed on the inner wall of the pipeline for cleaning, and the ports that need to be welded later are cleaned, thereby improving the cleaning effect of the dark area of ​​the pipeline; and because a first pressure sensor 112 is provided at the top edge of the liquid storage tank 110, when there are irregular overlaps at the port, the first pressure sensor 112 on the top of the liquid storage tank 110 cannot rise for cleaning when it detects the overlaps, thereby reducing the subsequent welding effect and the subsequent use effect of the pipeline.

[0047] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein; and these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible robot for welding curved pipes, comprising a flexible component, characterized in that: The flexible component is transmission-connected with a compatible component, a plurality of welding components are distributed in a ring array on the outer wall of the compatible component, and an auxiliary component is installed on the top; The welding assembly includes a plurality of groups of central control structures, each group of the central control structures has an output end electrically connected to a group of welding structures, and each group of the central control structures has a group of first distance sensors capable of distance monitoring installed on the top; The auxiliary component includes several groups of fan ring disks, each group of the fan ring disks is provided with a group of cavities on the top, a group of grinding plates is installed on the bottom inner wall of each group of the cavities, several groups of third pressure sensors that can conduct when the values ​​change are evenly installed on the inner walls of each group of the cavities, each group of the third pressure sensors is installed with a group of micro pumps that can spray cooling cleaning solution, and a group of second distance sensors that can monitor the distance are installed on the bottom of each group of the fan ring disks.

2. The curved pipe welding flexible robot according to claim 1, characterized in that: The flexible component includes a first disc, a first electric push rod is installed on the top of the first disc, a first motor is installed on the output end of the first electric push rod, a plurality of groups of clamping blocks are movably connected in a ring array on the outer wall of the first disc, a group of second electric push rods is installed on one side wall of each group of the clamping blocks, a group of first connecting plates is installed on the output end of each group of the second electric push rods, and a group of flexible plates is installed on one side wall of each group of the first connecting plates.

3. The curved pipe welding flexible robot according to claim 2, characterized in that: A group of third electric push rods is installed on the top of each group of flexible plates, a group of annular plates is installed on the output end of each group of third electric push rods, a group of liquid storage tanks is installed on the outer wall of each group of annular plates, a number of groups of extrusion head structures are evenly spaced on the outer wall of each group of liquid storage tanks, and a number of groups of first pressure sensors are evenly spaced on the top of each group of liquid storage tanks.

4. The curved pipe welding flexible robot according to claim 2, characterized in that: The compatible component includes a second disc, the bottom of which is transmission-connected to the output end of the first motor, a second connecting plate is installed on the top of the second disc, a second motor is installed on a side wall of the second connecting plate, and a transmission tube is transmission-connected to the output end of the second motor.

5. The curved pipe welding flexible robot according to claim 4, characterized in that: A sleeve ring is sleeved on the outer wall of the transmission tube, a fourth electric push rod is installed on the outer wall of the sleeve ring, an electric slide is installed on the output end of the fourth electric push rod, and a third disc is transmission-connected to the output end of the electric slide.

6. The curved pipe welding flexible robot according to claim 5, characterized in that: The welding assembly also includes several groups of third connecting plates, one end of each group of the third connecting plates is installed on the outer wall of the third disk, a group of sleeve tubes is installed on one side wall of each group of the third connecting plates, one end of a group of compression springs is installed on the inner wall of each group of the sleeve tubes, a group of sliding rods is installed on the other end of each group of the compression springs, a group of second pressure sensors is installed at the junction of each group of the sliding rods and the compression springs, and one end of each group of the central control structure is installed on one side wall of the sliding rod.

7. The curved pipe welding flexible robot according to claim 6, characterized in that: A group of fifth electric push rods are installed on one side wall of each group of the third connecting plates, a group of first electromagnetic blocks are installed on the output end of each group of the fifth electric push rods, and a group of second electromagnetic blocks are installed on the outer wall of each group of the sliding rods, and the first electromagnetic blocks are magnetically connected to the second electromagnetic blocks.

8. The curved pipe welding flexible robot according to claim 1, characterized in that: The auxiliary component also includes a protective shell, the bottom of which is mounted on the top of the third disk, and a sixth electric push rod is mounted on the inner wall of the bottom of the protective shell.

9. The curved pipe welding flexible robot according to claim 8, characterized in that: A third motor is installed on the output end of the sixth electric push rod, and a fourth disc is transmission-connected to the output end of the third motor.

10. The curved pipe welding flexible robot according to claim 9, characterized in that: A plurality of groups of seventh electric push rods are distributed in a circular array on the outer wall of the fourth disc, a group of fourth connecting plates are installed on the output end of each group of the seventh electric push rods, and one end of each group of the fan ring discs is installed on a side wall of the fourth connecting plate.

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