A flange welding device for flange production

Abstract

The present invention relates to the technical field of flange welding and discloses a flange welding device for flange production, which solves the problem of low welding stability. The device comprises a frame, a support plate is provided on the top of the frame, an electromagnetic suction cup is fixed inside the support plate, a moving rod is provided at the front end of the support plate, an adapting rod is fixed at the right end of the moving rod, a welding machine is provided at the rear end of the adapting rod, a clamping ring is provided at the right end of the support plate, a plurality of clamping screws are slidably connected to the clamping ring, a clamping plate is provided on the inner side of each clamping screw, a stabilizing block is fixed on the inner side of each clamping plate, and a main stabilizing plate and a secondary stabilizing plate are rotatably connected to the inner side of each stabilizing block; the present invention can drive the flange clamping plate to rotate through the flange clamping motor, so that the flange clamping plate is tightly attached to the flange, so that the entire device can adapt to special-shaped flanges, thereby improving the application range of the entire device, thereby further ensuring the welding effect.

Description

Technical Field

[0001] The invention belongs to the technical field of flange welding, and in particular relates to a flange welding device for flange production. Background Art

[0002] Flanges are essential connecting components in pipeline systems, and their welding quality directly impacts pipeline sealing and structural strength. In the petrochemical, electric power, and other fields, flange welding must meet stringent requirements such as high pressure, corrosion resistance, and deformation resistance. Traditional welding processes often rely on manual operation or semi-automatic equipment to complete the assembly and welding of pipe fittings and flanges.

[0003] However, the existing flange welding is mostly done manually, which results in low welding accuracy. At the same time, the existing welding device can only fix pipes and flanges of regular shapes during welding, which makes the application range of the entire device small. At the same time, the existing welding device requires a lot of manpower when clamping the pipe, which makes the welding efficiency extremely low. Therefore, the present invention proposes a flange welding device for flange production. Summary of the Invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides a flange welding device for flange production, which effectively solves the problems raised in the above background.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a flange welding device for flange production, comprising a frame, a support plate is provided on the top of the frame, an electromagnetic suction cup is fixed inside the support plate, a plurality of adapter tubes are slidably connected inside the support plate, an adapter sub-gear is fixed on the left end of each adapter tube, a flange adapter rod is slidably connected inside each adapter sub-gear, an adapter spring is provided on the outside of each flange adapter rod, a reversing sub-gear is connected to the right end of the support plate through a sliding bearing, the reversing sub-gear is meshed with a reversing main gear, a moving rod is provided at the front end of the reversing main gear, an adapter rod is fixed on the right end of the moving rod, a connecting plate is provided at the rear end of the adapter rod, and a welding machine is slidably connected to the rear end of the connecting plate. A laser displacement meter is provided at the bottom of the welding machine, a camera is provided at the right end of the laser displacement meter, a grinding disk is provided at the bottom of the camera, a flange positioning rod is fixed to the right end of each flange adapter rod, a flange clamping block is provided on the inner side of each flange positioning rod, two clamping rings are provided at the right end of the support disk, a plurality of clamping screws are slidably connected to the inside of each clamping ring, a clamping rod is fixed to the inner side of each clamping screw, a clamping disk is fixed to the inner side of each clamping rod, a plurality of moving wheels are rotatably connected to the inside of each clamping disk at the right end, a stabilizing block is fixed to the inner side of each clamping disk, and a main stabilizing plate is rotatably connected to the inside of each stabilizing block through a rotating shaft, and each main stabilizing plate is mirrored and provided with a secondary stabilizing plate rotatably connected to the stabilizing block.

[0006] Preferably, an armrest is fixed to the top of the frame, a controller is fixed to the front end of the frame, a power supply is fixed to the left end of the controller, a stabilizing plate is fixed to the bottom of the frame, a plurality of universal wheel moving rods are provided inside the stabilizing plate, a universal wheel positioning plate is clamped at the bottom of each universal wheel moving rod, and a universal wheel is rotatably connected inside each universal wheel positioning plate.

[0007] Material toggling mechanism, its both sides respectively have a cylinder pressure, and the cylinder pressure bar connects swing arm, and the swing arm end face has hook portion, and a bar passes position between the end of two swing arms and the hook portion.

[0008] Preferably, an electromagnetic suction cup controller is fixed to the left end of the support plate, and several adapter bearings are fixed to the left end of the support plate. The inner ring of each adapter bearing is fixedly connected to the adapter sub-gear at its left end, and several adapter sub-gears are meshed connected by an adapter chain. An adapter motor is also fixed to the left end of the support plate, and the left end of the adapter motor is rotatably connected to the adapter main gear, and the adapter main gear is meshed with one of the adapter sub-gears. A flange positioning block motor is fixed to the right end of each flange positioning rod, and each flange positioning block motor is rotatably connected to a flange positioning block.

[0009] Preferably, a flange camera is fixed to the right end of each flange positioning block, a flange clamping block moving rod is fixed to the inner side of each flange positioning block, the telescopic end of each flange clamping block moving rod is fixedly connected to the flange clamping block, a positioning plate is fixed to the right end of each flange positioning block, a flange clamping motor is fixed to the right end of each positioning plate, and the left side of each flange clamping motor is rotatably connected to a flange clamping plate via a rotating shaft.

[0010] Preferably, a reversing motor is fixed to the front end of the support plate, and the reversing motor is rotatably connected to the reversing main gear at its right end, a reversing rod is fixed to the right end of the reversing sub-gear, the front end of the reversing rod is fixedly connected to the moving rod, the right end of the adapter rod is fixed with a connecting motor, the left end of the connecting motor is rotatably connected to a connecting block, and the connecting block is fixedly connected to the connecting plate at its rear end.

[0011] Preferably, a clamping rod is fixed to the rear end of the connecting plate, a clamping plate is fixed to the upper end of the clamping rod, the clamping plate fits tightly with the welding machine inside it, and a grinding disc reversing motor is also fixed to the rear end of the connecting plate, the rear end of the grinding disc reversing motor is rotatably connected to the grinding disc positioning rod, the left end of the grinding disc positioning rod is fixed with a grinding disc motor, and the grinding disc motor is rotatably connected to the grinding disc at its right end through a rotating shaft.

[0012] Preferably, a clamping motor is fixed to the outside of each clamping ring, a clamping main gear is rotatably connected to the inside of each clamping motor, a clamping chain is meshed with the outside of each clamping main gear, and a plurality of clamping sub-gears are also meshed with the inside of each clamping chain, each clamping sub-gear is fixed to a main bevel gear via a rotating shaft, and the rotating shaft of each clamping sub-gear is fixedly connected to the clamping ring via a fixing plate.

[0013] Preferably, each of the main bevel gears is meshedly connected with a secondary bevel gear, a clamping nut is fixed on the outside of each secondary bevel gear, each clamping nut is meshedly connected with the clamping screw inside it, a clamping bearing is fixed on the inside of each secondary bevel gear, a moving block is fixed on the inner side of the outer ring of each clamping bearing, and each moving block is fixedly connected to the clamping ring at one end thereof.

[0014] Preferably, each of the clamping rings is slidably connected to a plurality of stabilizing rods, each of the stabilizing rods is fixedly connected to the stabilizing block inside it, a stabilizing motor is fixed on the inside of each stabilizing block, and a stabilizing main gear is rotatably connected to the outside of each stabilizing motor, and each stabilizing main gear is fixedly connected to the main stabilizing plate on its outside through a rotating shaft, and each of the stabilizing main gears is meshedly connected to a stabilizing sub-gear, and each of the stabilizing sub-gears is rotatably connected to the sub-stabilizing plate on its outside through a rotating shaft, and a stabilizing camera is also fixed on the inside of each stabilizing block.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention can suck the flange tightly by cooperating with the electromagnetic suction cup and the electromagnetic suction cup controller, thereby ensuring the stability of the flange and thus ensuring the welding effect. At the same time, the device can drive the moving plate to move through the flange moving rod, thereby driving the support plate to move, and at the same time, the moving main gear can be driven to rotate by the moving motor, thereby driving the moving sub-gear to rotate, thereby driving the moving nut to rotate, thereby driving the moving shaft to rotate, thereby driving the left end positioning block to move, thereby driving the left end clamping ring to move, so that the pipe and the flange can be tightly attached. Thus, the welding efficiency and the welding effect are guaranteed; (2) The present invention uses the adapter tube to position the flange adapter rod. The adapter spring of the device is elastic, so that the flange clamping motor is in close contact with the right end of the flange, thereby ensuring the stability of the flange. At the same time, the device can drive the adapter main gear to rotate through the adapter motor, thereby driving the adapter sub-gear engaged with it to rotate, and then driving the adapter chain to rotate, thereby driving all the adapter sub-gears to rotate, thereby driving the flange adapter rod to rotate, thereby causing the moving rod to rotate at the same time, thereby clamping the flange while making the flange The axis is the same as the axis of the support plate, thereby ensuring the accuracy of welding; (3) The present invention can drive the flange positioning block to rotate through the flange positioning block motor, and at the same time, the device can drive the flange clamping block to move through the extension and contraction of the flange clamping block moving rod, so that the positioning plate can be close to the flange, thereby preventing the flange from tipping over, thereby ensuring the stability of the flange, thereby ensuring the welding effect, and at the same time, the device can drive the flange clamping plate to rotate through the flange clamping motor, so that the flange clamping plate is close to the flange, so that the entire device can adapt to special-shaped flanges, thereby improving the overall The applicable scope of the device, thereby further ensuring the welding effect; (4) The present invention can drive the adapter rod to move left and right by extending and retracting the moving rod, and at the same time, the adapter rod can drive the connecting block to move forward and backward by extending and retracting the connecting rod. At the same time, the device can drive the connecting block to rotate through the connecting motor, thereby driving the connecting plate to reversing. At the same time, the device can drive the reversing main gear to rotate through the reversing motor, thereby driving the reversing sub-gear to rotate, thereby driving the reversing rod to follow the reversing sub-gear to rotate, so that the welding machine can reach any position of the connection between the pipeline and the flange, thereby ensuring the accuracy of welding and improving the welding efficiency;(5) The present invention can drive the clamping main gear to rotate through the clamping motor, thereby driving the clamping chain to rotate, thereby driving the clamping sub-gear to rotate, thereby driving the main bevel gear to rotate, thereby driving the sub-bevel gear to rotate, thereby driving the clamping nut to rotate, thereby driving the clamping screw to move, thereby driving the clamping rod to move, so that several of the clamping discs can be closely attached to the pipe. Further, due to the extension and contraction of the clamping rod, all the clamping discs can be closely attached to the pipe, so that the entire device can be adapted to pipes of different sizes and shapes, thereby improving the applicability of the entire device. Further, the stabilizing motor can drive the stabilizing main gear to rotate, thereby driving the stabilizing sub-gear to rotate, thereby driving the main stabilizing plate and the sub-stabilizing plate to be closely attached to the outer wall of the pipe, thereby ensuring the stability of the pipe, thereby further ensuring the welding effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0017] In the attached figure:

[0018] Figure 1 It is an overall schematic diagram of the present invention;

[0019] Figure 2 It is a schematic top view of the present invention as a whole;

[0020] Figure 3 This is a schematic diagram of the universal wheel moving rod of the present invention;

[0021] Figure 4 This is a schematic diagram of the right end of the frame of the present invention;

[0022] Figure 5 This is a schematic diagram of the right end of the clamping ring of the present invention;

[0023] Figure 6 This is a schematic diagram of the interior of the right end clamping ring of the present invention;

[0024] Figure 7 This is a schematic diagram of the inner side of the clamping screw of the present invention;

[0025] Figure 8 This is a schematic diagram of the inner side of the clamping nut of the present invention;

[0026] Figure 9 This is a schematic diagram of the inner side of the stabilizer bar of the present invention;

[0027] Figure 10 This is a schematic diagram of the inner side of the stabilizing block of the present invention;

[0028] Figure 11 This is a schematic diagram of the stable main gear of the present invention;

[0029] Figure 12This is a schematic diagram of the left end of the support plate of the present invention;

[0030] Figure 13 This is a schematic diagram of the right end of the support plate of the present invention;

[0031] Figure 14 This is a schematic diagram of the rear end of the mobile rod of the present invention;

[0032] Figure 15 This is a schematic diagram of the rear end of the adapter rod of the present invention;

[0033] Figure 16 This is a schematic diagram of the right end of the flange adapter rod of the present invention;

[0034] Figure 17 This is a schematic diagram of the inner side of the flange positioning rod of the present invention;

[0035] Figure 18 This is a schematic diagram of the flange clamping block moving rod of the present invention.

[0036] In the figure: 1-frame; 2-support plate; 3-moving shaft; 4-flange adapter rod; 5-clamping ring; 6-clamping screw; 7-universal wheel moving rod; 8-moving rod; 9-stabilizing rod; 101-controller; 102-power supply; 103-stabilizing plate; 104-universal wheel; 105-universal wheel positioning plate; 106-handrail; 107-track; 201-moving plate; 202-flange moving rod; 203-main lifting rod; 204-electromagnetic chuck controller; 205-electromagnetic chuck; 301-moving sub-gear; 3 02-moving nut; 303-positioning ring; 304-moving main gear; 305-moving motor; 401-adapting sub-gear; 402-adapting spring; 403-adapting bearing; 404-adapting chain; 405-adapting main gear; 406-adapting motor; 407-adapting tube; 408-flange positioning rod; 409-flange positioning block; 410-flange camera; 411-flange positioning block motor; 412-flange clamping block; 413-positioning plate; 414-flange clamping plate; 415-flange Disk clamping motor; 416-flange clamping block moving rod; 501-positioning block; 502-secondary lifting rod; 503-clamping chain; 504-clamping secondary gear; 505-main bevel gear; 506-clamping motor; 507-clamping main gear; 601-clamping nut; 602-secondary bevel gear; 603-clamping bearing; 604-clamping rod; 605-clamping disk; 606-moving block; 607-moving wheel; 801-adapting rod; 802-connecting block; 803-reversing motor; 804-reversing main gear; 80 5-reversing sub-gear; 806-reversing rod; 807-welding machine; 808-clamping plate; 809-clamping rod; 810-grinding disc; 811-grinding disc reversing motor; 812-grinding disc motor; 813-grinding disc positioning rod; 814-laser displacement meter; 815-camera; 816-connecting motor; 817-connecting plate; 901-stabilizing block; 902-main stabilizing plate; 903-sub-stabilizing plate; 904-stabilizing motor; 905-stabilizing camera; 906-stabilizing main gear; 907-stabilizing sub-gear. DETAILED DESCRIPTION

[0037] The technical solutions 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 only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] Embodiment 1, by Figure 1-Figure 2 、 Figure 5-Figure 7 、 Figure 10 、 Figure 12-14 、 Figure 16The present invention provides a flange welding device for flange production, including a frame 1, the frame 1 is made of alloy material, the frame 1 is used to support the movable plate 201, the top of the frame 1 is provided with a support plate 2, the support plate 2 is made of alloy material, an electromagnetic suction cup 205 is fixed inside the support plate 2, the electromagnetic suction cup 205 can suck the flange tightly by cooperating with the electromagnetic suction cup controller 204, thereby ensuring the stability of the flange, thereby ensuring the welding effect, the support plate 2 is used to support the electromagnetic suction cup 205, and a plurality of adapter tubes 407 are slidably connected to the support plate 2, the adapter tube 407 is made of alloy material, and the adapter tube 407 is used to position the flange adapter rod 4, each The left end of the adapter tube 407 is fixed with an adapter pinion 401, and each adapter pinion 401 is slidably connected to a flange adapter rod 4 inside. The flange adapter rod 4 adopts a polygonal structure, and the flange adapter rod 4 and the adapter pinion 401 are tightly fitted. The adapter pinion 401 can drive the flange adapter rod 4 to rotate by rotating. An adapter spring 402 is provided on the outside of each flange adapter rod 4. The adapter spring 402 is elastic, so that the positioning plate 413 is in close contact with the right end of the flange. The right end of the support plate 2 is connected to a reversing pinion 805 through a sliding bearing. The reversing pinion 805 can drive the reversing rod 806 to rotate along the support plate 2 by rotating. 805 is meshedly connected with a reversing main gear 804, and the reversing main gear 804 can drive the reversing sub-gear 805 to rotate. A moving rod 8 is provided at the front end of the reversing main gear 804, and an adapter rod 801 is fixed to the right end of the moving rod 8. The moving rod 8 is retractable, thereby driving the adapter rod 801 to move left and right. The adapter rod 801 is retractable, thereby driving the connecting block 802 to move forward and backward. A connecting plate 817 is provided at the rear end of the adapter rod 801. The connecting plate 817 is made of alloy material. A welding machine 807 is slidably connected to the rear end of the connecting plate 817. The connecting plate 817 is used to position the welding machine 807. The welding machine 807 can have multiple models, and the welding machine 807 can be adjusted according to the needs. The flanges of different materials for welding are replaced to ensure the welding effect. A laser displacement meter 814 is provided at the bottom of the welding machine 807. The laser displacement meter 814 is used to measure whether the flange and the pipe are flat. A camera 815 is provided at the right end of the laser displacement meter 814. The camera 815 is used to monitor the welding situation. A grinding disc 810 is provided at the bottom of the camera 815. The grinding disc 810 is used to grind the flange and the pipe. A flange positioning rod 408 is fixed to the right end of each flange adapter rod 4. The flange positioning rod 408 is made of alloy material and is used to position the flange positioning block 409. A flange clamping block 412 is provided on the inner side of each flange positioning rod 408.The flange clamping block 412 is made of alloy material, and the flange clamping block 412 is used to position the positioning plate 413. Two clamping rings 5 ​​are provided at the right end of the support plate 2, and the clamping rings 5 ​​are made of alloy material. The clamping rings 5 ​​are used to position the moving block 606. A plurality of clamping screws 6 are slidably connected inside each clamping ring 5, and a clamping rod 604 is fixed on the inner side of each clamping screw 6. The clamping screw 6 can drive the clamping rod 604 to move by moving, and a clamping plate 605 is fixed on the inner side of each clamping rod 604. The clamping rod 604 is retractable, thereby driving the clamping plate 605 to move. The outer end of the clamping plate 605 is made of alloy material, and the inner end of the clamping plate 605 is made of rubber material, so as to clamp the pipe. Each clamping plate 605 on the right end Several moving wheels 607 are rotatably connected internally. The moving wheels 607 are made of alloy material to facilitate the movement of the pipe. A stabilizing block 901 is fixed to the inside of each clamping disk 605. The stabilizing block 901 is made of alloy material. Each stabilizing block 901 is rotatably connected to a main stabilizing plate 902 via a rotating shaft. Each main stabilizing plate 902 is mirrored and has a secondary stabilizing plate 903 rotatably connected to the stabilizing block 901. The stabilizing block 901 is used to position the main stabilizing plate 902 and the secondary stabilizing plate 903. The main stabilizing plate 902 and the secondary stabilizing plate 903 are made of alloy material. Rubber material is fixed to the inner ends of the main stabilizing plate 902 and the secondary stabilizing plate 903. The main stabilizing plate 902 and the secondary stabilizing plate 903 cooperate to clamp the pipe, thereby ensuring the stability of the welding.

[0039] Example 2, based on Example 1, combined with Figure 3-Figure 4It is given that the top of the frame 1 is fixed with an armrest 106, and the armrest 106 is convenient for the staff to move the entire device. The front end of the frame 1 is fixed with a controller 101, and the controller 101 is used to control the entire device. The left end of the controller 101 is fixed with a power supply 102, and the power supply 102 provides the required power for the entire device. The bottom of the frame 1 is fixed with a stabilizing plate 103, and the stabilizing plate 103 is made of alloy material. The stabilizing plate 103 can ensure the stability of the entire device. Several universal wheel moving rods 7 are provided inside the stabilizing plate 103, and each universal wheel moving rod 7 is clamped with a universal wheel positioning plate 105 at the bottom. The universal wheel moving rod 7 is retractable, thereby driving the universal wheel positioning plate 105 to move. The universal wheel positioning plate 105 is internally connected to the universal wheel 104 for rotation, and the universal wheel 104 can drive the entire device to move by rotating. Two tracks 107 are provided on the top of the frame 1. A movable plate 201 is provided on the top of the left end track 107. The movable plate 201 is made of alloy material. The movable plate 201 is used to position the main lifting rod 203. The track 107 provides a moving path for the movable plate 201 and the slider at the bottom of the positioning block 501. A flange movable rod 202 is fixed to the left end of the frame 1. The flange movable rod 202 is retractable, thereby driving the movable plate 201 to move. The right end of the flange movable rod 202 is fixedly connected to the movable plate 201 through a slider. The top of the movable plate 201 There are two main lifting rods 203 fixed on the frame 1, and the top of each main lifting rod 203 is fixedly connected to the support plate 2. The main lifting rod 203 is retractable, thereby driving the support plate 2 to move up and down. A moving motor 305 is fixed to the right end of the frame 1, and the right end of the moving motor 305 is connected to a moving main gear 304 for rotation. The moving motor 305 can drive the moving main gear 304 to rotate, and the moving main gear 304 is meshed with a moving sub-gear 301, and the moving main gear 304 can drive the moving sub-gear 301 to rotate. A moving nut 302 is fixed to the left end of the moving sub-gear 301, and the moving sub-gear 301 can drive the moving nut 302 to rotate by rotating, and the moving nut 302 is meshed internally. The movable shaft 3 is connected to the joint, and the movable nut 302 can drive the movable shaft 3 to move by rotating, thereby driving the positioning block 501 to move. A positioning ring 303 is fixed to the left end of the movable nut 302, and the positioning ring 303 can be rotated around the axis of the positioning ring 303 while being engaged with the frame body 1. The positioning ring 303 facilitates the rotation of the movable nut 302. Two positioning blocks 501 are also slidably connected to the top of the frame body 1, and a secondary lifting rod 502 is fixed on the top of each positioning block 501. The positioning block 501 is used to position the secondary lifting rod 502, and each secondary lifting rod 502 is fixedly connected to the clamping ring 5 at its top, and the bottom of the positioning block 501 at the left end is fixedly connected to the movable shaft 3 through a slider;.

[0040] Before using this device, the staff can drive the entire device to move by pushing the handrail 106. When the entire device moves to the required position, the controller 101 controls the universal wheel moving rod 7 to retract, thereby driving the universal wheel positioning plate 105 to rise, so that the universal wheel 104 enters the interior of the stabilizing plate 103, so that the stabilizing plate 103 is in close contact with the ground, thereby ensuring the stability of the entire device. When the flange is positioned, the controller 101 controls the flange moving rod 202 to work to move the moving plate 201, thereby driving the support plate 2 to move. After the staff further fixes the pipeline, the controller 101 controls the universal wheel moving rod 202 to work to move the moving plate 201, thereby driving the support plate 2 to move. The device 101 controls the movement motor 305 to work, thereby driving the movement main gear 304 to rotate, thereby driving the movement sub-gear 301 to rotate, thereby driving the movement nut 302 to rotate, thereby driving the movement shaft 3 to move, so that the positioning block 501 at the left end moves. At this time, due to the movement wheel 607, the pipeline can follow the movement of the clamping ring 5 at the left end, so that the pipeline is close to the flange. At this time, the controller 101 controls the main lifting rod 203 and the sub-lifting rod 502 to cooperate to make the support plate 2 and the clamping ring 5 rise and fall together, so that the axis of the flange and the pipeline are the same, thereby ensuring the stability of welding.

[0041] Example 3, based on Example 1, combined with Figure 15 、 Figure 17-18It is given that an electromagnetic suction cup controller 204 is fixed to the left end of the support plate 2, and the electromagnetic suction cup controller 204 is used to control the electromagnetic suction cup 205. Several adapter bearings 403 are fixed to the left end of the support plate 2, and the inner ring of each adapter bearing 403 is fixedly connected to the adapter sub-gear 401 at its left end. The adapter bearing 403 is used to position the adapter sub-gear 401, and several adapter sub-gears 401 are meshed and connected through an adapter chain 404, and the adapter chain 404 is used to connect several adapter sub-gears 401. An adapter motor 406 is also fixed to the left end of the support plate 2, and the left end of the adapter motor 406 is rotatably connected to the adapter main gear 405, and the adapter motor 406 can drive the adapter main gear The gear 405 rotates, and the adapting main gear 405 is meshed with one of the adapting sub-gears 401. The adapting main gear 405 drives the adapting sub-gear 401 meshed with it to rotate, which can drive the adapting chain 404 to rotate, thereby driving all the adapting sub-gears 401 to rotate, thereby driving the flange adapting rod 4 to rotate, and each flange positioning rod 408 is fixed with a flange positioning block motor 411 on the right end, and each flange positioning block motor 411 is rotatably connected with a flange positioning block 409, and the flange positioning block motor 411 can drive the flange positioning block 409 to rotate, and each flange positioning block 409 is fixed with a flange camera 410 on the right end. Made of alloy material, each flange positioning block 409 is fixed with a flange clamping block moving rod 416 on the inside, the flange positioning block 409 is used to position the flange clamping block moving rod 416, the telescopic end of each flange clamping block moving rod 416 is fixedly connected to the flange clamping block 412, the flange clamping block moving rod 416 can drive the flange clamping block 412 to move by telescoping, and each flange positioning block 409 is fixed with a positioning plate 413 on the right end, the positioning plate 413 is made of alloy material, and the positioning plate 413 is used to clamp the right end of the flange, thereby preventing the flange from tipping over, thereby ensuring the stability of the flange, thereby ensuring the welding effect, and each positioning plate 413 is fixed with a The flange clamping motor 415 is connected to the flange clamping plate 414 on the left side through a rotating shaft. The flange clamping plate 414 is made of alloy material. The flange clamping plate 414 is used to clamp the flange. The flange clamping motor 415 can drive the flange clamping plate 414 to rotate. The front end of the support plate 2 is fixed with a reversing motor 803. The reversing motor 803 is rotatably connected to the reversing main gear 804 at its right end. The reversing motor 803 can drive the reversing main gear 804 to rotate. The right end of the reversing sub-gear 805 is fixed with a reversing rod 806. The reversing rod 806 is made of alloy material. The front end of the reversing rod 806 is fixedly connected to the moving rod 8.The reversing rod 806 is used to position the moving rod 8, the right end of the adapter rod 801 is fixed with a connecting motor 816, the left end of the connecting motor 816 is rotatably connected to the connecting block 802, the connecting motor 816 can drive the connecting block 802 to rotate, the connecting block 802 is fixedly connected to the connecting plate 817 at its rear end, the connecting block 802 is used to position the connecting plate 817, the rear end of the connecting plate 817 is fixed with a clamping rod 809, the upper end of the clamping rod 809 is fixed with a clamping plate 808, the clamping plate 808 is tightly fitted with the welding machine 807 inside it, and the clamping rod 809 is retractable, thereby driving the clamping plate 808 The connecting plate 817 is movable, thereby clamping the welding machines 807 of different sizes. A grinding disc reversing motor 811 is further fixed to the rear end of the connecting plate 817. The rear end of the grinding disc reversing motor 811 is rotatably connected to a grinding disc positioning rod 813. The grinding disc reversing motor 811 can drive the grinding disc 813 to rotate, thereby causing the grinding disc 810 to reverse around the axis of the grinding disc reversing motor 811. A grinding disc motor 812 is fixed to the left end of the grinding disc positioning rod 813. The grinding disc motor 812 is rotatably connected to the grinding disc 810 at its right end through a rotating shaft. The grinding disc motor 812 can drive the grinding disc 810 to rotate, thereby grinding pipes and flanges.

[0042] When the entire device moves to the desired position, the controller 101 drives the clamping plate 808 to move by controlling the clamping rod 809, so that the welding machine 807 can be replaced, so that the entire device can select the appropriate welding machine 807 according to the pipes of different materials and different models, so as to ensure the welding effect. The staff further puts the flange into the right end of the support plate 2. At this time, the controller 101 controls the adaptation motor 406 to work, thereby driving the adaptation main gear 405 to rotate, thereby driving the adaptation sub-gear 401 meshing with it to rotate, thereby driving the adaptation chain 404 to rotate, thereby driving all the adaptation sub-gears 401 to rotate, thereby driving the flange adaptation rod 4 to rotate, thereby driving all The adapter tube 407 rotates, thereby driving the flange positioning rod 408 to rotate, so that several of the flange clamping blocks 412 are close to the flange, and at the same time, the axis of the flange is consistent with the axis of the support plate 2. Further, the staff pushes the flange adapter rod 4 to move the flange positioning rod 408, so that the positioning plate 413 is close to the right end of the flange, thereby ensuring the stability of the flange. Further, the controller 101 controls the flange camera 410 to monitor the position of the positioning plate 413. At this time, the controller 101 controls the flange positioning block motor 411 and the flange clamping block moving rod 416 to cooperate, so that the remaining flange clamping blocks 412 are close to the flange, and the flange is tightened. In the next step, the controller 101 controls the flange clamping motor 415 to cooperate so that the flange clamping plate 414 and the flange clamping block 412 can clamp the flange, thereby ensuring the stability of the flange. At this time, the controller 101 controls the electromagnetic suction cup controller 204 to make the electromagnetic suction cup 205 work, thereby sucking the flange tightly, thereby ensuring the stability of the flange. When welding is required, the controller 101 controls the moving rod 8, the adapter rod 801 and the connecting motor 816 to work, thereby making the connecting plate 817 movable and reversing, thereby making the laser displacement meter 814 close to the connection between the pipe and the flange. At this time, the controller 101 can monitor the connection between the laser displacement meter 814 and the camera 815. Measure whether the pipeline and the flange are flat. If the pipeline is not flat, the controller 101 controls the adapter rod 801 and the moving rod 8 to make the grinding disc 810 close to the pipeline. Further, the controller 101 controls the grinding disc motor 812 to rotate the grinding disc 810, thereby grinding the pipeline. Further, the controller 101 controls the grinding disc reversing motor 811 to drive the grinding disc 810 to reverse, thereby grinding the flange, thereby ensuring grinding accuracy and grinding efficiency. Further, the controller 101 controls the reversing motor 803 to drive the reversing main gear 804 to rotate, thereby driving the reversing sub-gear 805 to rotate, thereby driving the moving rod 8 to rotate around the axis of the support plate 2.Thus, any position of the pipeline can be polished. Further, the controller 101 controls the welding machine 807 to work, thereby starting the welding work. Further, the controller 101 controls the reversing motor 803, the moving rod 8, the adapter rod 801, and the connecting motor 816 to cooperate so that the welding machine 807 can weld any position of the pipeline, thereby ensuring the welding effect.

[0043] Example 4, based on Example 1, combined with Figure 8-Figure 9 、 Figure 11It is given that each of the clamping rings 5 ​​is fixed with a clamping motor 506 on the outside, and each of the clamping motors 506 is rotatably connected to a clamping main gear 507 on the inside. Each of the clamping main gears 507 is externally meshed with a clamping chain 503, and each of the clamping chains 503 is also meshed with a number of clamping sub-gears 504 on the inside. Each of the clamping sub-gears 504 is fixed with a main bevel gear 505 through a rotating shaft. The clamping motor 506 can drive the clamping main gear 507 to rotate, thereby driving the clamping chain 503 to rotate, thereby driving the clamping sub-gear 504 to rotate, thereby driving the main bevel gear 505 to rotate, and each of the clamping sub-gears The rotating shaft of 504 is fixedly connected to the clamping ring 5 through a fixing plate, and each of the main bevel gears 505 is meshedly connected with a secondary bevel gear 602. A clamping nut 601 is fixed on the outside of each secondary bevel gear 602, and each clamping nut 601 is meshedly connected with the clamping screw 6 inside it. The secondary bevel gear 602 can drive the clamping nut 601 to rotate by rotating, thereby driving the clamping screw 6 to move. A clamping bearing 603 is fixed on the inside of each secondary bevel gear 602, and the clamping bearing 603 is used to position the secondary bevel gear 602, so that the secondary bevel gear 602 can rotate while preventing the secondary bevel gear 602 from rotating. Movement, a moving block 606 is fixed on the inner side of the outer ring of each clamping bearing 603, and the moving block 606 is made of alloy material. The moving block 606 is used to position the clamping bearing 603, and each moving block 606 is fixedly connected to the clamping ring 5 at one end thereof, and each clamping ring 5 is slidably connected with a plurality of stabilizing rods 9, and the stabilizing rods 9 are made of alloy material. Each stabilizing rod 9 is fixedly connected to the stabilizing block 901 inside thereof, and the stabilizing rod 9 is used to position the stabilizing block 901, and a stabilizing motor 904 is fixed on the inner side of each stabilizing block 901, and a stabilizing motor 904 is rotatably connected on the outer side of each stabilizing motor 904. Main gear 906, the stabilizing motor 904 can drive the stabilizing main gear 906 to rotate, each of the stabilizing main gear 906 is fixedly connected to the main stabilizing plate 902 on its outer side via a rotating shaft, each of the stabilizing main gear 906 is meshedly connected with a stabilizing sub-gear 907, the stabilizing main gear 906 can drive the stabilizing sub-gear 907 to rotate, each of the stabilizing sub-gear 907 is rotatably connected to the sub-stabilizing plate 903 on its outer side via a rotating shaft, and a stabilizing camera 905 is also fixed on the inner side of each stabilizing block 901, and the stabilizing camera 905 is used to monitor the clamping condition of the main stabilizing plate 902 and the sub-stabilizing plate 903;

[0044] Furthermore, the staff puts the pipe into the two clamping rings 5. At this time, the controller 101 controls the clamping motor 506 to work, thereby driving the clamping main gear 507 to rotate, thereby driving the clamping chain 503 to rotate, thereby driving the clamping sub-gear 504 to rotate, thereby driving the main bevel gear 505 to rotate, thereby driving the sub-bevel gear 602 to rotate, thereby driving the clamping nut 601 to rotate, thereby driving the clamping screw 6 to move inward, thereby driving the clamping plate 605 to move inward. If it is a circular pipe, all the clamping plates 605 are in close contact with the pipe, thereby ensuring that the axis of the pipe is consistent with the axis of the clamping ring 5. If it is a special-shaped pipe, several of the clamping plates 605 are in close contact with the pipe, further The controller 101 controls the extension of the clamping rod 604 so that the clamping plate 605 that is not tightly attached is tightly attached to the pipe. At this time, the action of the stabilizing rod 9 can prevent the clamping screw 6 from rotating, and at the same time, the rotation direction of the moving wheel 607 is the same as the axis of the clamping ring 5. Further, the controller 101 can monitor the positions of the main stabilizing plate 902 and the auxiliary stabilizing plate 903 through the stabilizing camera 905. Further, the controller 101 controls the stabilizing motor 904 to work, so that the stabilizing main gear 906 rotates, thereby driving the stabilizing auxiliary gear 907 to rotate, so that the main stabilizing plate 902 and the auxiliary stabilizing plate 903 are tightly attached to the pipe, thereby ensuring the stability of the pipe, thereby ensuring stability during welding.

[0045] The working process of the present invention is as follows: before using the device, the staff can drive the entire device to move by pushing the handrail 106. When the entire device moves to the desired position, the controller 101 controls the universal wheel moving rod 7 to retract, thereby driving the universal wheel positioning plate 105 to rise, so that the universal wheel 104 enters the interior of the stabilizing plate 103, so that the stabilizing plate 103 is in close contact with the ground, thereby ensuring the stability of the entire device. Furthermore, the controller 101 can drive the clamping plate 808 to move by controlling the clamping rod 809, so that the welding machine 807 can be replaced, so that the entire device can select the appropriate welding machine 807 according to pipes of different materials and different models, thereby ensuring the welding effect. , the staff further puts the flange into the right end of the support plate 2. At this time, the controller 101 controls the adaptation motor 406 to work, thereby driving the adaptation main gear 405 to rotate, thereby driving the adaptation sub-gear 401 meshing with it to rotate, thereby driving the adaptation chain 404 to rotate, thereby driving all the adaptation sub-gears 401 to rotate, thereby driving the flange adapter rod 4 to rotate, thereby driving the adapter tube 407 to rotate, thereby driving the flange positioning rod 408 to rotate, so that several of the flange clamping blocks 412 are close to the flange, and at the same time, the axis of the flange is aligned with the axis of the support plate 2. Further, the staff pushes the flange adapter rod 4 to make the flange positioning rod 408 rotate. 8 moves, so that the positioning plate 413 is in close contact with the right end of the flange, thereby ensuring the stability of the flange. Further, the controller 101 controls the flange camera 410 to monitor the position of the positioning plate 413. At this time, the controller 101 controls the flange positioning block motor 411 and the flange clamping block moving rod 416 to cooperate, so that the remaining flange clamping blocks 412 are in close contact with the flange. Further, the controller 101 controls the flange clamping motor 415 to cooperate so that the flange clamping plate 414 and the flange clamping block 412 clamp the flange, thereby ensuring the stability of the flange. At this time, the controller 101 controls the electromagnetic suction cup controller 204 to make the electromagnetic suction cup 205 Work, thereby sucking the flange tightly, thereby ensuring the stability of the flange. Further, the staff puts the pipe into the two clamping rings 5. At this time, the controller 101 controls the clamping motor 506 to work, thereby driving the clamping main gear 507 to rotate, thereby driving the clamping chain 503 to rotate, thereby driving the clamping sub-gear 504 to rotate, thereby driving the main bevel gear 505 to rotate, thereby driving the sub-bevel gear 602 to rotate, thereby driving the clamping nut 601 to rotate, thereby driving the clamping screw 6 to move inward, thereby driving the clamping plate 605 to move inward. If it is a circular pipe, all the clamping plates 605 are in close contact with the pipe, thereby ensuring that the axis of the pipe is consistent with the axis of the clamping ring 5.If it is a special-shaped pipe, some of the clamping plates 605 are in close contact with the pipe, and the controller 101 further controls the clamping rod 604 to extend, so that the clamping plates 605 that are not in close contact are in close contact with the pipe. At this time, the stabilizing rod 9 can prevent the clamping screw 6 from rotating, and at the same time make the rotation direction of the moving wheel 607 the same as the axis of the clamping ring 5. The controller 101 can monitor the positions of the main stabilizing plate 902 and the sub-stabilizing plate 903 through the stabilizing camera 905, and further the controller 101 controls the stabilizing motor 904 to work, so that the stabilizing main gear 906 rotates, thereby driving the stabilizing sub-gear 907 to rotate, so that the main stabilizing The fixed plate 902 and the auxiliary stabilizing plate 903 are in close contact with the pipeline, thereby ensuring the stability of the pipeline and thus ensuring stability during welding. The controller 101 controls the flange moving rod 202 to work so that the moving plate 201 can move, thereby driving the support plate 2 to move. Further, the controller 101 controls the moving motor 305 to work, thereby driving the moving main gear 304 to rotate, thereby driving the moving auxiliary gear 301 to rotate, thereby driving the moving nut 302 to rotate, thereby driving the moving shaft 3 to move, thereby moving the positioning block 501 at the left end. At this time, due to the moving wheel 607, the pipeline can follow the clamping ring 5 at the left end to move, thereby making the pipeline close to the flange. At this time, The controller 101 controls the main lifting rod 203 and the auxiliary lifting rod 502 to cooperate to make the support plate 2 and the clamping ring 5 rise and fall together, so that the axes of the flange and the pipe are the same, thereby ensuring the stability of welding. At this time, the controller 101 controls the moving rod 8, the adapter rod 801 and the connecting motor 816 to work, so that the connecting plate 817 can move and reverse, so that the laser displacement meter 814 is close to the connection between the pipe and the flange. At this time, the controller 101 can monitor whether the pipe and the flange are flat through the laser displacement meter 814 and the camera 815. If the pipe is not flat, the controller 101 controls the adapter rod 801 and the moving rod 8 to make the connecting plate 817 move and reverse, so that the laser displacement meter 814 is close to the connection between the pipe and the flange. The grinding disc 810 is close to the pipe. The controller 101 further controls the grinding disc motor 812 to rotate the grinding disc 810, thereby grinding the pipe. The controller 101 further controls the grinding disc reversing motor 811 to drive the grinding disc 810 to reverse, thereby grinding the flange, thereby ensuring grinding accuracy and grinding efficiency. The controller 101 further controls the reversing motor 803 to drive the reversing main gear 804 to rotate, thereby driving the reversing sub-gear 805 to rotate, thereby driving the moving rod 8 to rotate around the axis of the support disc 2, thereby grinding any position of the pipe. The controller 101 further controls the welding machine 807 to work, thereby starting the welding work.Furthermore, the controller 101 controls the reversing motor 803, the moving rod 8, the adapting rod 801, and the connecting motor 816 to cooperate so that the welding machine 807 can weld any position of the pipe, thereby ensuring the welding effect.

[0046] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0047] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A flange welding device for flange production, characterized by: The invention comprises a frame (1), wherein a support plate (2) is provided on the top of the frame (1), an electromagnetic suction cup (205) is fixed inside the support plate (2), a plurality of adapter tubes (407) are slidably connected inside the support plate (2), an adapter pinion (401) is fixed at the left end of each adapter tube (407), a flange adapter rod (4) is slidably connected inside each adapter pinion (401), an adapter spring (402) is provided outside each flange adapter rod (4), and the support plate (2) is provided with a plurality of adapter tubes (407) and a plurality of adapter tubes (407) are slidably connected inside each adapter pinion (401), ...). The right end is connected to a reversing pinion (805) through a sliding bearing, and the reversing pinion (805) is meshedly connected to a reversing main gear (804). A moving rod (8) is provided at the front end of the reversing main gear (804). An adapting rod (801) is fixed to the right end of the moving rod (8). A connecting plate (817) is provided at the rear end of the adapting rod (801). A welding machine (807) is slidably connected to the rear end of the connecting plate (817). A laser displacement meter (814) is provided at the bottom of the welding machine (807). The right end of the laser displacement meter (814) is provided with a camera (815), the bottom of the camera (815) is provided with a grinding disc (810), the right end of each flange adapter rod (4) is fixed with a flange positioning rod (408), the inner side of each flange positioning rod (408) is provided with a flange clamping block (412), the right end of the support plate (2) is provided with two clamping rings (5), each clamping ring (5) is internally connected with a plurality of clamping screws (6), and each clamping screw (6) is fixed inside. A clamping rod (604) is fixed, a clamping disc (605) is fixed inside each clamping rod (604), a plurality of moving wheels (607) are rotatably connected inside each clamping disc (605) at the right end, a stabilizing block (901) is fixed inside each clamping disc (605), a main stabilizing plate (902) is rotatably connected inside each stabilizing block (901) via a rotating shaft, and a secondary stabilizing plate (903) is mirrored on each main stabilizing plate (902) and rotatably connected to the stabilizing block (901); The frame (1) is provided with two tracks (107) on the top, and a movable plate (201) is provided on the top of the left track (107). A flange movable rod (202) is fixed on the left end of the frame (1), and the right end of the flange movable rod (202) is fixedly connected to the movable plate (201) through a slider. Two main lifting rods (203) are fixed on the top of the movable plate (201), and the top of each main lifting rod (203) is fixedly connected to the support plate (2). A movable motor (305) is fixed on the right end of the frame (1), and the right end of the movable motor (305) is rotatably connected to a movable main gear (304), and the movable main gear (304) is meshedly connected to a movable sub-gear (301). ), a moving nut (302) is fixed to the left end of the moving sub-gear (301), and a moving shaft (3) is meshedly connected to the inside of the moving nut (302), and a positioning ring (303) is fixed to the left end of the moving nut (302), and the positioning ring (303) can rotate around the axis of the positioning ring (303) while being engaged with the frame (1), and two positioning blocks (501) are also slidably connected to the top of the frame (1), and a secondary lifting rod (502) is fixed to the top of each positioning block (501), and each secondary lifting rod (502) is fixedly connected to the clamping ring (5) at its top, and the bottom of the left end positioning block (501) is fixedly connected to the moving shaft (3) through a slider.

2. A flange welding device for flange production according to claim 1, characterized in that: A handrail (106) is fixed on the top of the frame (1), a controller (101) is fixed on the front end of the frame (1), a power supply (102) is fixed on the left end of the controller (101), a stabilizing plate (103) is fixed on the bottom of the frame (1), a plurality of universal wheel moving rods (7) are provided inside the stabilizing plate (103), a universal wheel positioning plate (105) is clamped on the bottom of each universal wheel moving rod (7), and a universal wheel (104) is rotatably connected inside each universal wheel positioning plate (105).

3. The flange welding device for flange production according to claim 2, characterized in that: An electromagnetic suction cup controller (204) is fixed to the left end of the support plate (2), and a plurality of adapter bearings (403) are fixed to the left end of the support plate (2). The inner ring of each adapter bearing (403) is fixedly connected to the adapter sub-gear (401) at its left end, and the plurality of adapter sub-gears (401) are meshedly connected via an adapter chain (404). An adapter motor (406) is also fixed to the left end of the support plate (2), and the left end of the adapter motor (406) is rotatably connected to an adapter main gear (405), and the adapter main gear (405) is meshedly connected to one of the adapter sub-gears (401). A flange positioning block motor (411) is fixed to the right end of each flange positioning rod (408), and each flange positioning block motor (411) is rotatably connected to a flange positioning block (409).

4. A flange welding device for flange production according to claim 3, characterized in that: A flange camera (410) is fixed to the right end of each flange positioning block (409), a flange clamping block moving rod (416) is fixed to the inner side of each flange positioning block (409), a telescopic end of each flange clamping block moving rod (416) is fixedly connected to the flange clamping block (412), a positioning plate (413) is fixed to the right end of each flange positioning block (409), a flange clamping motor (415) is fixed to the right end of each positioning plate (413), and a flange clamping plate (414) is rotatably connected to the left side of each flange clamping motor (415) via a rotating shaft.

5. The flange welding device for flange production according to claim 4, characterized in that: A reversing motor (803) is fixed to the front end of the support plate (2), and the reversing motor (803) is rotatably connected to the reversing main gear (804) at its right end. A reversing rod (806) is fixed to the right end of the reversing sub-gear (805), and the front end of the reversing rod (806) is fixedly connected to the moving rod (8). A connecting motor (816) is fixed to the right end of the adapter rod (801), and the left end of the connecting motor (816) is rotatably connected to a connecting block (802), and the connecting block (802) is fixedly connected to the connecting plate (817) at its rear end.

6. The flange welding device for flange production according to claim 5, characterized in that: A clamping rod (809) is fixed to the rear end of the connecting plate (817), and a clamping plate (808) is fixed to the upper end of the clamping rod (809). The clamping plate (808) is tightly fitted with the welding machine (807) inside it. A grinding disc reversing motor (811) is also fixed to the rear end of the connecting plate (817). The rear end of the grinding disc reversing motor (811) is rotatably connected to a grinding disc positioning rod (813). A grinding disc motor (812) is fixed to the left end of the grinding disc positioning rod (813). The grinding disc motor (812) is rotatably connected to the grinding disc (810) at its right end through a rotating shaft.

7. The flange welding device for flange production according to claim 6, characterized in that: A clamping motor (506) is fixed on the outside of each clamping ring (5), and a clamping main gear (507) is rotatably connected to the inside of each clamping motor (506). Each clamping main gear (507) is meshed with a clamping chain (503) on the outside, and a plurality of clamping sub-gears (504) are also meshed on the inside of each clamping chain (503). Each clamping sub-gear (504) is fixed with a main bevel gear (505) via a rotating shaft, and the rotating shaft of each clamping sub-gear (504) is fixedly connected to the clamping ring (5) via a fixing plate.

8. The flange welding device for flange production according to claim 7, characterized in that: Each of the main bevel gears (505) is meshedly connected with a secondary bevel gear (602), a clamping nut (601) is fixed on the outside of each of the secondary bevel gears (602), each of the clamping nut (601) is meshedly connected with the clamping screw (6) inside thereof, a clamping bearing (603) is fixed on the inside of each of the secondary bevel gears (602), a moving block (606) is fixed on the inner side of the outer ring of each of the clamping bearings (603), and each of the moving blocks (606) is fixedly connected to the clamping ring (5) at one end thereof.

9. The flange welding device for flange production according to claim 8, characterized in that: A plurality of stabilizing rods (9) are slidably connected to each of the clamping rings (5), each of the stabilizing rods (9) is fixedly connected to the stabilizing block (901) inside the stabilizing block (901), a stabilizing motor (904) is fixedly provided on the inside of each of the stabilizing blocks (901), and a stabilizing main gear (906) is rotatably connected to the outside of each of the stabilizing motors (904), and each of the stabilizing main gears (906) is fixedly connected to the main stabilizing plate (902) outside the stabilizing block (902) via a rotating shaft, and each of the stabilizing main gears (906) is meshedly connected to a stabilizing sub-gear (907), and each of the stabilizing sub-gears (907) is rotatably connected to the sub-stabilizing plate (903) outside the stabilizing block (901), and a stabilizing camera (905) is also fixedly provided on the inside of each of the stabilizing blocks (901).

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