Welding equipment for pipeline butt joint

Abstract

The invention relates to welding equipment for pipeline butt joint, and relates to the field of welding equipment. The automatic welding machine comprises a rack, a moving table is arranged on the rack in a linear sliding mode, a driving device used for controlling the moving table to slide is arranged on the rack, a mechanical arm is arranged on the moving table, and a welding device is arranged on the mechanical arm; a plurality of supporting seats used for supporting workpieces to be welded are arranged on the machine frame in a linear sliding mode, the supporting seats are limited to slide on the machine frame through locking devices, bases are arranged on the supporting seats located at the ends of the machine frame in a sliding mode, first pushing units used for controlling the bases to move are arranged on the supporting seats, and rotating seats are rotationally connected to the bases. A rotating device used for controlling the rotating base to rotate is arranged on the base, and two sets of clamping jaws used for clamping workpieces to be welded are arranged on the rotating base in a sliding mode. An operator can conveniently adjust the position of a welding seam, the time and energy consumed by overturning a workpiece by the operator are relieved, and the welding efficiency of a pipeline is improved.

Description

Technical Field

[0001] This application relates to the field of welding equipment, and particularly to a welding equipment for pipe butt joint. Background Art

[0002] For the production of large-diameter pipes, the conventional method is to butt and weld two workpieces with semi-circular ring cross-sections to form a complete pipe structure. During the welding process, it is crucial to ensure the precise alignment between the two semi-circular pipes to guarantee the accuracy of the welding position.

[0003] In actual operation, it is necessary to fix and assemble two workpieces with semi-circular ring cross-sections through jigs. After assembly, two weld seams will be formed between the two semi-circular pipes. The operator needs to adjust the distance between the two workpieces to be able to adjust the width of the weld seam. During the welding process, one of the weld seams is first flipped to be exposed outside for welding. After welding one weld seam, the operator needs to loosen the jig and manually flip the semi-circular pipe to expose the other weld seam for welding. Given the large weight of the pipe, manual flipping not only increases the labor intensity of the operator but also seriously affects the welding efficiency. Summary of the Invention

[0004] In order to facilitate the operator to adjust the position of the weld seam, relieve the time and energy consumed by the operator in flipping the workpiece, and improve the welding efficiency of the pipe, this application provides a welding equipment for pipe butt joint.

[0005] A welding equipment for pipe butt joint provided by this application adopts the following technical solutions: A welding equipment for pipe butt joint includes a frame. A moving table is linearly slidably arranged on the frame. A driving device for controlling the sliding of the moving table is arranged on the frame. A robotic arm is arranged on the moving table, and a welding device is arranged on the robotic arm. A plurality of supporting seats for supporting the workpiece to be welded are linearly slidably arranged on the frame. The supporting seats limit their own sliding on the frame through a locking device. Bases are slidably arranged on the supporting seats located at the ends of the frame. A first pushing unit for controlling the movement of the base is arranged on the supporting seat. A rotating seat is rotatably connected to the base. A rotating device for controlling the rotation of the rotating seat is arranged on the base. Two groups of jaws for clamping the workpiece to be welded are slidably arranged on the rotating seat. A control device for controlling the jaws to approach or separate from each other is arranged on the rotating seat.

[0006] By adopting the above technical solution, a pipe workpiece with a semi-circular cross-section is erected on the support base. Then, the operator drives the clamping jaws through the control device to clamp the workpiece. After the clamping is completed, the control device and the rotating device cooperate to lift and flip the workpiece by 180°. The operator installs another pipe workpiece with a semi-circular cross-section on the other set of clamping jaws in the same way. Under the action of the control device, the two pipe workpieces with semi-circular cross-sections are driven to approach each other and spliced into a complete circular pipe. Driven by the rotating device, one of the splicing seams of the circular pipe is flipped towards the direction of the welding device. The driving device drives the welding device to move along the trajectory direction of the splicing seam and weld the splicing seam. After welding one splicing seam, the circular pipe is flipped by the rotating device to weld the other splicing seam, which alleviates the time and energy consumed by the operator in flipping the workpiece, facilitates the adjustment of the position of the weld seam. After welding is completed, the two clamping jaws release the clamping effect on the pipe, and the control device drives the rotating seats at both ends of the pipe workpiece to move away from each other to facilitate the disassembly of the welded pipe, which is beneficial to improving the welding efficiency of the pipe workpiece.

[0007] Optionally, the support base includes a base slidably disposed on a frame, the locking device is disposed on the base, two sets of rollers are rotatably connected to the upper end of the base, and a positioning groove is formed between the two sets of rollers for positioning the workpiece to be welded.

[0008] By adopting the above technical solution, the two sets of rollers on the same base form a positioning groove to be able to position the workpiece to be welded and facilitate the operator to adjust the angle of the workpiece to be welded.

[0009] Optionally, an installation frame is vertically slidably disposed on the upper end of the base, a second pushing unit for controlling the lifting of the installation frame is disposed on the base, a vacuum chuck for fixing the workpiece to be welded is disposed on the installation frame, and an elastic member for pushing the vacuum chuck is disposed on the installation frame. The elastic member is used to push the vacuum chuck to lift. When the vacuum chuck adsorbs the workpiece to be welded, it can limit the rotation of the workpiece to be welded.

[0010] By adopting the above technical solution, when the workpiece to be welded is erected on the positioning groove on the base, the outer wall of the workpiece to be welded abuts against the vacuum chuck. The vacuum chuck is activated to adsorb the workpiece to be welded to limit its rotation so that the clamping jaws can clamp the workpiece to be welded.

[0011] Optionally, a sliding seat is vertically slidably disposed on the base, a third pushing unit for controlling the vertical movement of the sliding seat is disposed on the base, two sets of support arms are rotatably connected to the sliding seat, and a first guide groove and a second guide groove communicating with each other are disposed on the support arms. The first guide groove is close to the sliding seat and is inclined. A first guide shaft for inserting into the first guide groove or the second guide groove is fixedly connected to the base; During the movement of the base, when driving the first guiding shaft to slide in the first guiding groove, the two arms keep moving away from each other; when the first guiding shaft slides in the second guiding groove, the two arms keep approaching each other; push plates are fixedly connected to both groups of arms, and the push plates are used to push both ends of the cross-section of the workpiece to be welded, so that both ends of the cross-section of the workpiece to be welded are on the same horizontal plane.

[0012] By adopting the above technical solution, when the sliding seat is lifted, the first guiding shaft is at the bottom of the first guiding groove. In this state, the tops of the two groups of arms are inclined away from each other. During the downward movement of the sliding seat, it drives the arms to move downward, so that the first guiding shaft moves in the first guiding groove towards the second guiding groove. When the first guiding shaft slides in the second guiding groove, the two arms keep approaching each other. As the sliding seat continues to move downward, it further drives the push plate to push the workpiece to be welded, so that both ends of the cross-section of the workpiece to be welded are on the same horizontal plane.

[0013] Optionally, the locking device includes a screw rod rotatably connected to the base, a screw sleeve threadedly connected to the screw rod, a limiting rod hinged to the screw sleeve, a third guiding groove provided on the limiting rod, and a second guiding shaft fixedly connected to the base for inserting into the third guiding groove.

[0014] By adopting the above technical solution, rotating the screw rod drives the screw sleeve to move, and further drives the limiting rod to flip, so that the limiting rod moves along the length direction of the third guiding groove relative to the second guiding shaft, so as to be able to control the limiting rod to abut against or loosen the machine frame.

[0015] Optionally, the jaw includes a moving seat slidably arranged on the rotating seat, a fixed jaw finger and a movable jaw finger are arranged on the moving seat, wherein the fixed jaw finger is fixedly connected to the moving seat, the movable jaw finger is slidably arranged on the moving seat, and a cylinder for controlling the movement of the movable jaw finger is arranged on the moving seat.

[0016] By adopting the above technical solution, starting the cylinder drives the movable jaw finger to move close to or away from the fixed jaw, so as to control the opening and closing of the jaw.

[0017] Optionally, a rotating shaft is fixedly connected to the movable jaw finger, the piston rod of the cylinder is hinged to the rotating shaft, a first guide rail, a second guide rail and a third guide rail are arranged on the moving seat, the rotating shaft is slidably arranged in the first guide rail, the second guide rail and the third guide rail are communicated with each other, wherein the second guide rail is arranged close to the fixed jaw finger direction, a turning shaft is fixedly connected to the movable jaw finger, and the turning shaft is slidably arranged in the second guide rail or the third guide rail; When the rotation axis is slidably disposed in the second guide rail, the movable finger extends out of the moving seat; when the rotation axis is slidably disposed in the third guide rail, the movable finger retracts into the moving seat.

[0018] By adopting the above technical solution, the air cylinder is started to drive the piston rod to extend and retract, thereby driving the movable finger to move. During this process, the rotating shaft is slidably disposed in the first guide rail, and the rotation axis is slidably disposed in the second guide rail or the third guide rail. When the rotation axis is slidably disposed in the second guide rail, the movable finger remains extended so as to be able to cooperate with the fixed finger to clamp the workpiece to be welded; when the rotation axis is slidably disposed in the third guide rail, the movable finger gradually retracts.

[0019] Optionally, the control device includes a bidirectional screw rotatably connected to the rotating seat, a driving unit for controlling the rotation of the bidirectional screw is fixedly connected to the rotating seat, two screw barrels are threadedly sleeved on the bidirectional screw, and the thread segments of the bidirectional screw corresponding to the two screw barrels have opposite helix directions. Two groups of the jaws respectively correspond to one of the screw barrels and are fixedly connected to the corresponding screw barrel.

[0020] By adopting the above technical solution, the driving unit rotates to drive the bidirectional screw to rotate, driving the two screw barrels to approach or move away from each other, thereby driving the two groups of jaws on the same rotating seat to approach or move away from each other, so as to adjust the weld width between two workpieces to be welded with a semi-circular cross section.

[0021] Optionally, the rotating device includes a first sprocket fixedly connected to the rotating seat, a second sprocket is rotatably connected to the base, and a chain for transmission is wound between the first sprocket and the second sprocket. A control unit for controlling the rotation of the second sprocket on the body is provided on the base.

[0022] By adopting the above technical solution, the control unit drives the second sprocket to rotate. Under the transmission action of the chain, the first sprocket can be driven to rotate, thereby driving the rotating disk and the workpiece thereon to rotate, facilitating the adjustment of the position of the weld.

[0023] In summary, the present application includes at least one of the following beneficial technical effects: 1. The control device drives the jaws to clamp two pipe workpieces with a semi-circular cross section. The control device adjusts the distance between the two groups of jaws so as to be able to adjust the weld width between the two pipe workpieces. The rotating device controls the rotation of the rotating seat so as to be able to control the position of the weld. The driving device drives the welding device to move along the track direction of the splicing seam and weld the splicing seam. After completing the welding of one splicing seam, the circular pipe is flipped by the rotating device so as to weld another splicing seam, alleviating the time and energy consumed by the operator in flipping the workpiece, and being beneficial to improving the welding efficiency of the pipe workpiece; 2. During the downward movement of the sliding seat, the supporting arm is driven to move downward, causing the first guiding shaft to move in the first guiding groove towards the second guiding groove. When the first guiding shaft is slidably arranged in the second guiding groove, the two supporting arms remain close to each other. As the sliding seat continues to move downward, the pushing plate is further driven to push the workpiece to be welded, so that both ends of the cross-section of the workpiece to be welded are on the same horizontal plane, facilitating the positioning of the workpiece to be welded for clamping by the clamping jaws; 3. When the workpiece to be welded is placed on the positioning groove on the base, the outer wall of the workpiece to be welded abuts against the vacuum chuck. The vacuum chuck is activated to adsorb the workpiece to be welded to restrict its rotation, so as to facilitate the clamping of the workpiece to be welded by the clamping jaws. Description of the Drawings

[0024] Figure 1 is the overall structural schematic diagram of the embodiment of the present application.

[0025] Figure 2 is Figure 1 the enlarged schematic diagram of part A in

[0026] Figure 3 is the structural schematic diagram of the base and the clamping jaws for embodying the embodiment of the present application.

[0027] Figure 4 is the cross-sectional view of the base and the clamping jaws for embodying the embodiment of the present application.

[0028] Figure 5 is the cross-sectional view of the mounting bracket and the vacuum chuck for embodying the embodiment of the present application.

[0029] Figure 6 is the structural schematic diagram of the sliding seat and the supporting arm for embodying the embodiment of the present application.

[0030] Figure 7 is Figure 1 the enlarged schematic diagram of part B in

[0031] Description of reference numerals: 1, frame; 11, mobile station; 12, robotic arm; 13, welding device; 2, driving device; 21, first motor; 22, gear; 23, rack; 3, support base; 31, base; 32, roller; 33, pedestal; 331, first pushing unit; 332, first electric push rod; 34, rotating seat; 35, mounting bracket; 36, vacuum chuck; 37, elastic member; 38, second pushing unit; 39, second electric push rod; 4, sliding seat; 41, support arm; 42, push plate; 43, first guide groove; 44, second guide groove; 45, first guide shaft; 46, third pushing unit; 47, linear motor; 5, locking device; 51, screw; 52, nut sleeve; 53, limiting rod; 54, third guide groove; 55, second guide shaft; 6, rotating device; 61, first sprocket; 62, second sprocket; 63, chain; 64, control unit; 65, second motor; 7, jaw; 71, moving seat; 72, fixed jaw finger; 73, movable jaw finger; 8, first guide rail; 81, second guide rail; 82, third guide rail; 84, rotating shaft; 85, turning shaft; 86, cylinder; 9, control device; 91, bi-directional stud; 92, screw barrel; 93, driving unit; 94, third motor. Detailed implementation manners

[0032] The following will further describe the present application in detail in conjunction with the attached Figure 1-7 drawings.

[0033] An embodiment of the present application discloses a welding device for pipe docking. As Figure 1 shown, the welding device for pipe docking includes a frame 1, on which a first track is fixedly connected, and a mobile station 11 is linearly slidably arranged on the first track. A driving device 2 for controlling the sliding of the mobile station 11 is arranged on the frame 1. The driving device 2 controls a transmission component by a power component such as a motor, a pneumatic cylinder or a hydraulic cylinder, so as to be able to drive the mobile station 11 to slide on the frame 1, and the transmission component can be a belt, a transmission chain or a lead screw, etc. In the embodiment of the present application, the power component is a first motor 21 fixedly connected to the mobile station 11, the transmission component is a gear 22 fixedly connected to the output shaft of the first motor 21, a rack 23 is fixedly connected to the frame 1, the gear 22 and the rack 23 cooperate with each other, and the operator drives the gear 22 to rotate through the first motor 21, and under the meshing action of the gear 22 and the rack 23, the mobile station 11 can be controlled to slide on the frame 1.

[0034] A robotic arm 12 is fixedly connected to the upper end of the mobile station 11. The robotic arm 12 can adopt a multi-joint or multi-link structure to achieve flexible attitude adjustment. A welding device 13, such as a welding torch or a welding clamp, etc., is provided at the end of the robotic arm 12 for welding the workpiece. The position of the welding device 13 is adjusted by the robotic arm 12 so that the welding device 13 is aligned with the weld seam to be welded. Under the sliding action of the mobile station 11, the welding device 13 can be driven to move along the direction of the weld seam, thereby achieving the welding effect of the weld seam.

[0035] Such as Figure 1 And Figure 2 On the frame 1, a second track is fixedly connected. A plurality of support seats 3 for supporting the workpiece to be welded are linearly slidably arranged on the second track. The number and position of the support seats 3 can be set according to actual needs to adapt to workpieces of different sizes and quantities. The support seats 3 are restricted from sliding on the frame 1 by the locking device 5 to ensure that the support seats 3 remain stable during the welding process.

[0036] The support seat 3 includes a base 31 slidably arranged on the frame 1. Structures such as sliders or pulleys can be provided at the bottom of the base 31 to achieve the sliding connection with the frame 1. The locking device 5 is arranged on the base 31 for locking the position of the base 31 on the frame 1. Two groups of rollers 32 are rotatably connected to the upper end of the base 31. A positioning groove is formed between the two groups of rollers 32 for positioning the workpiece to be welded. The setting of the rollers 32 can reduce the friction between the workpiece and the base 31, facilitating the movement and positioning of the workpiece.

[0037] The locking device 5 includes a screw rod 51 rotatably connected to the base 31. A nut sleeve 52 is threadedly connected to the screw rod 51. A limiting rod 53 is hinged to the nut sleeve 52. A third guide groove 54 is provided on the limiting rod 53. A second guide shaft 55 for inserting into the third guide groove 54 is fixedly connected to the base 31. The operator can drive the nut sleeve 52 to move by rotating the screw rod 51, and then drive the limiting rod 53 to rotate around the hinge point and gradually extend out of the base 31, so that the base 31 abuts against the side wall of the frame 1, thereby locking the position of the base 31 on the frame 1.

[0038] Such as Figure 3 And Figure 4 On the upper end of the base 31, an installation frame 35 is vertically slidably arranged. A second pushing unit 38 for controlling the lifting of the installation frame 35 is arranged on the base 31. A vacuum chuck 36 for fixing the workpiece to be welded is arranged on the installation frame 35. The second pushing unit 38 can be a cylinder 86, an electric push rod or a hydraulic cylinder, etc. In the embodiment of the present application, the second pushing unit 38 includes a second electric push rod 39 installed on the base 31. The second electric push rod 39 is hinged to the base 31, and the moving part of the electric push rod is hinged to the installation frame 35. The operator can control the lifting of the installation frame 35 by controlling the telescopic movement of the second electric push rod 39.

[0039] As Figure 4 and Figure 5 , an elastic member 37 for pushing the vacuum chuck 36 is provided inside the base 31. The elastic member 37 can be a spring or a tension spring. In the embodiment of the present application, the elastic member 37 is a spring, and the spring is used to push the vacuum chuck 36 to lift. When the workpiece to be welded with a semi-circular cross-section is placed between the two sets of rollers 32, the workpiece to be welded pushes the vacuum chuck 36 downward and compresses the spring, so that the vacuum chuck 36 is in close contact with the outer wall of the workpiece to be welded. When the operator activates the vacuum chuck 36 to adsorb the workpiece to be welded, the rotation of the workpiece to be welded can be restricted. This can ensure the stability of the workpiece during the clamping process of the clamping jaw 7, and prevent the two workpieces to be welded with semi-circular cross-sections from being difficult to be normally butted due to the rotation of the workpiece, thus affecting the welding quality.

[0040] As Figure 2 and Figure 6 , in addition, a sliding seat 4 is vertically slidably arranged on the base 31, and a third pushing unit 46 for controlling the vertical movement of the sliding seat 4 is arranged on the base 31. The third pushing unit 46 can be a motor, a pneumatic cylinder, an electric push rod or a hydraulic cylinder, etc. In the embodiment of the present application, the third pushing unit 46 is a linear motor 47. The linear motor 47 is fixedly connected to the base 31, and the moving part of the linear motor 47 is fixedly connected to the sliding seat 4. Two sets of support arms 41 are rotatably connected to the sliding seat 4, and the support arms 41 are provided with a first guide groove 43 and a second guide groove 44 that communicate with each other. The first guide groove 43 is close to the sliding seat 4 and is inclined, and the first guide groove 43 is located between the sliding seat 4 and the second guide groove 44. A first guide shaft 45 for inserting into the first guide groove 43 or the second guide groove 44 is fixedly connected to the base 31. During the process of the operator controlling the lifting of the sliding seat 4, the first guide shaft 45 can be slidably arranged in the first guide groove 43 or the second guide groove 44.

[0041] Push plates 42 are fixedly connected to both sets of support arms 41. The workpiece to be welded is located between the two support arms 41. The push plates 42 are used to push the ends of the cross-section of the workpiece to be welded, so that the two ends of the cross-section of the workpiece to be welded are on the same horizontal plane, thereby ensuring the accuracy and stability of welding and facilitating the butting of the two semi-circular workpieces to be welded.

[0042] When the slider 4 is in the lifted state, the first guide shaft 45 is located at the bottom of the first guide groove 43. In this state, the tops of the two sets of support arms 41 are inclined away from each other. During the downward movement of the slider 4, the support arms 41 are driven to move downward, causing the first guide shaft 45 to move in the first guide groove 43 toward the second guide groove 44. When the first guide shaft 45 is slidably disposed in the second guide groove 44, the two support arms 41 and the two push plates 42 remain close to each other. As the slider 4 continues to move downward, the push plate 42 is further driven to push the workpiece to be welded, so that both ends of the cross-section of the workpiece to be welded are on the same horizontal plane. The vacuum chuck 36 is activated to adsorb the workpiece to be welded, achieving the fixing effect on the workpiece to be welded and restricting the flipping of the workpiece to be welded.

[0043] As Figure 3 and Figure 4 , the support seats 3 located at both ends of the frame 1 are denoted as end support seats 3. On the opposite surfaces of the two end support seats 3, bases 33 are slidably disposed in the horizontal direction, and a first pushing unit 331 for controlling the sliding of the base 33 is provided on the support seat 3. The first pushing unit 331 can be a pneumatic cylinder, an electric push rod, a hydraulic cylinder, etc. In the embodiment of the present application, the first pushing unit 331 includes a first electric push rod 332 fixedly connected to the corresponding base 33, and the moving part of the first electric push rod 332 is fixedly connected to the base 31. By controlling the telescopic movement of the first electric push rod 332, the base 33 can be driven to move in the horizontal direction.

[0044] As Figure 3 , Figure 4 and Figure 7 , a rotating seat 34 is rotatably connected to the base 33, and two sets of clamping jaws 7 for clamping the workpiece to be welded are slidably disposed on the rotating seat 34. By controlling the sliding of the clamping jaws 7, workpieces of different sizes can be adapted. A control device 9 for controlling the clamping jaws 7 to approach or separate from each other is provided on the rotating seat 34. A rotating device 6 for controlling the rotation of the rotating seat 34 is provided on the base 33. The rotating device 6 can include structures such as a motor, a reducer, and a transmission shaft. By controlling the rotation of the motor, the rotating seat 34 can be driven to rotate around the axis of the base 33 to realize the rotation of the workpiece, so as to weld the welds at different positions of the workpiece.

[0045] In the embodiment of the present application, the rotating device 6 includes a first sprocket 61 fixedly connected to the rotating seat 34, a second sprocket 62 is rotatably connected to the base 33, and a chain 63 for transmission is wound between the first sprocket 61 and the second sprocket 62. A control unit 64 for controlling the rotation of the first sprocket 61 and the second sprocket 62 is provided on the base 33, and the control unit 64 includes a second motor 65 installed on the base 33, and the output shaft of the second motor 65 is coaxially fixedly connected to the second sprocket 62. The operator drives the second sprocket 62 to rotate by controlling the rotation of the second motor 65, and under the transmission action of the chain 63, the first sprocket 61 is driven to rotate, thereby driving the rotating seat 34 to flip, so as to be able to drive the workpiece to be welded to flip.

[0046] The control device 9 includes a bidirectional stud 91 rotatably connected to the rotating seat 34, and a driving unit 93 for controlling the rotation of the bidirectional stud 91 is provided on the rotating seat 34. The driving unit 93 includes a third motor 94 fixedly connected to the rotating seat 34, and the third motor 94 is a reduction motor, and the output shaft of the third motor 94 is drivingly connected to the middle position of the bidirectional stud 91. The axial direction of the bidirectional stud 91 is parallel to the moving direction of the clamping jaw 7. Two screw barrels 92 are sleeved on the bidirectional stud 91, and the two screw barrels 92 have opposite rotation directions corresponding to the threaded ends of the bidirectional stud 91. Each group of clamping jaws 7 corresponds to a screw barrel 92. The rotation of the bidirectional stud 91 drives the two screw barrels 92 to move closer to or away from each other, thereby controlling the workpieces clamped by the two groups of clamping jaws 7 to move closer to or away from each other, so that the operator can control the weld width between the two workpieces to be tested.

[0047] The clamping jaw 7 includes a moving seat 71 disposed on the rotating seat 34, and the moving seat 71 is slidably disposed on the moving seat 71 along the radial direction of the rotating seat 34. A fixed clamping finger 72 and a movable clamping finger 73 are disposed on the moving seat 71. The fixed clamping finger 72 is disposed close to the rotating axis 84 of the moving seat 71 and is fixedly connected to the moving seat 71, and the movable clamping finger 73 is slidably disposed on the side of the fixed clamping finger 72 away from the rotating axis 84 of the moving seat 71, and the moving seat 71 is slidably disposed on the moving seat 71, and a cylinder 86 for controlling the movement of the movable clamping finger 73 is disposed on the moving seat 71.

[0048] The moving seat 71 is provided with a first guide rail 8, a second guide rail 81 and a third guide rail 82 that are parallel to each other. Among them, the second guide rail 81 and the third guide rail 82 are in communication with each other. The second guide rail 81 is arranged close to the fixed clamping finger 72, and the third guide rail 82 is arranged away from the fixed clamping finger 72. In addition, the distance between the first guide rail 8 and the second guide rail 81 is greater than the distance between the first guide rail 8 and the third guide rail 82. A rotating shaft 84 and a turning shaft 85 are fixedly connected to the movable clamping finger 73. The rotating shaft 84 is slidably arranged in the first guide rail 8, and the turning shaft 85 is slidably arranged in the second guide rail 81 or the third guide rail 82. Both the first guide rail 8 and the second guide rail 81 are straight conduits, and the third guide rail 82 is an inferior arc-shaped guide rail. When the turning shaft 85 is located at one end of the first guide rail 8 close to the fixed clamping finger 72, the third guide rail 82 and the turning shaft 85 are coaxial. The air cylinder 86 is hinged to the moving seat 71, and the piston rod of the air cylinder 86 is hinged to the rotating shaft 84.

[0049] The operator controls the air cylinder 86 to drive the piston rod to extend and retract, thereby driving the movable clamping finger 73 to move. During the process, the rotating shaft 84 is slidably arranged in the first guide rail 8, and the turning shaft 85 is slidably arranged in the second guide rail 81 or the third guide rail 82. The moving seat 71 is provided with a receiving groove for receiving the movable clamping finger 73. When the turning shaft 85 is slidably arranged in the second guide rail 81, the movable clamping finger 73 remains extended out of the receiving groove so as to be able to cooperate with the fixed clamping finger 72 to clamp the workpiece to be welded; when the turning shaft 85 is slidably arranged in the third guide rail 82, the movable clamping finger 73 is retracted into the receiving groove.

[0050] The above are all the preferred embodiments of the present application, and the protection scope of the present application is not limited thereby. Therefore, all equivalent changes made according to the structure, shape, and principle of the present application should be covered within the protection scope of the present application.

Claims

1. A welding device for pipeline docking, characterized in that: It includes a frame (1), on which a moving table (11) is linearly slidably arranged. A driving device (2) for controlling the sliding of the moving table (11) is arranged on the frame (1). A robotic arm (12) is arranged on the moving table (11), and a welding device (13) is arranged on the robotic arm (12). On the frame (1), a plurality of support seats (3) for supporting the workpiece to be welded are linearly slidably arranged. The support seats (3) are restricted from sliding on the frame (1) by a locking device (5). On the support seats (3) located at the ends of the frame (1), bases (33) are slidably arranged. And a first pushing unit (331) for controlling the movement of the base (33) is arranged on the support seat (3). A rotating seat (34) is rotatably connected to the base (33). A rotating device (6) for controlling the rotation of the rotating seat (34) is arranged on the base (33). On the rotating seat (34), two groups of jaws (7) for clamping the workpiece to be welded are slidably arranged. A control device (9) for controlling the jaws (7) to approach or separate from each other is arranged on the rotating seat (34).

2. The welding device for pipeline butt joint according to claim 1, characterized in that: The support seat (3) includes a base (31) slidably arranged on the frame (1). The locking device (5) is arranged on the base (31). Two groups of rollers (33) are rotatably connected to the upper end of the base (31). A positioning groove is formed between the two groups of rollers (33) for positioning the workpiece to be welded.

3. The welding device for pipeline docking according to claim 2, characterized in that: An installation frame (35) is vertically slidably arranged at the upper end of the base (31). A second pushing unit (38) for controlling the lifting of the installation frame (35) is arranged on the base (31). A vacuum chuck (36) for fixing the workpiece to be welded is arranged on the installation frame (35). An elastic member (37) for pushing the vacuum chuck (36) is arranged on the installation frame (35). The elastic member (37) is used to push the vacuum chuck (36) to lift, so as to restrict the rotation of the workpiece to be welded when the vacuum chuck (36) adsorbs the workpiece to be welded.

4. A welding device for pipe docking according to claim 2, characterized in that: A sliding seat (4) is vertically slidably arranged on the base (31). A third pushing unit (46) for controlling the vertical movement of the sliding seat (4) is arranged on the base (31). Two groups of support arms (41) are rotatably connected to the sliding seat (4). A first guide groove (43) and a second guide groove (44) which are communicated with each other are arranged on the support arm (41). The first guide groove (43) is close to the sliding seat (4) and is inclined. A first guide shaft (45) for inserting into the first guide groove (43) or the second guide groove (44) is fixedly connected to the base (31). During the movement of the base (31), when driving the first guide shaft (45) to slide in the first guide groove (43), the two arms (41) are kept away from each other; when the first guide shaft (45) slides in the second guide groove (44), the two arms (41) are kept close to each other; push plates (42) are fixedly connected to both groups of the arms (41), and the push plates (42) are used to push both ends of the cross-section of the workpiece to be welded, so that both ends of the cross-section of the workpiece to be welded are on the same horizontal plane.

5. A welding device for pipeline docking according to claim 2, characterized in that: The locking device (5) includes a screw rod (51) rotatably connected to the base (31), a nut sleeve (52) threadedly connected to the screw rod (51), a limiting rod (53) hinged to the nut sleeve (52) for pressing against the frame (1), a third guide groove (54) provided on the limiting rod (53), and a second guide shaft (55) fixedly connected to the base (31) for inserting into the third guide groove (54).

6. The welding device for pipeline docking according to claim 1, characterized in that: The clamping jaw (7) includes a moving seat (71) slidably arranged on the rotating seat (34), a fixed clamping finger (72) and a movable clamping finger (73) are arranged on the moving seat (71), wherein the fixed clamping finger (72) is fixedly connected to the moving seat (71), the movable clamping finger (73) is slidably arranged on the moving seat (71), and a cylinder (86) for controlling the movement of the movable clamping finger (73) is arranged on the moving seat (71).

7. A welding device for pipeline docking according to claim 6, characterized in that: A rotating shaft (84) is fixedly connected to the movable clamping finger (73), the piston rod of the cylinder (86) is hinged to the rotating shaft (84), a first guide rail (8), a second guide rail (81) and a third guide rail (82) are arranged on the moving seat (71), the rotating shaft (84) is slidably arranged in the first guide rail (8), the second guide rail (81) is communicated with the third guide rail (82), wherein the second guide rail (81) is arranged in the direction close to the fixed clamping finger (72), and a turning shaft (85) is fixedly connected to the movable clamping finger (73), and the turning shaft (85) is slidably arranged in the second guide rail (81) or the third guide rail (82). When the turning shaft (85) slides in the second guide rail (81), the movable clamping finger (73) extends out of the moving seat (71); when the turning shaft (85) slides in the third guide rail (82), the movable clamping finger (73) retracts into the moving seat (71).

8. A welding device for pipeline docking according to claim 1, characterized in that: The control device (9) includes a bidirectional screw (91) rotatably connected to the rotating seat (34), a driving unit (93) fixedly connected to the rotating seat (34) for controlling the rotation of the bidirectional screw (91), two screw barrels (92) are threadedly sleeved on the bidirectional screw (91), and the thread sections of the bidirectional screw (91) corresponding to the two screw barrels (92) have opposite rotation directions. Two groups of the clamping jaws (7) respectively correspond to one of the screw barrels (92) and are fixedly connected to the corresponding screw barrels (92).

9. A welding device for pipeline butt joint according to claim 1, wherein: The rotating device (6) includes a first sprocket wheel (61) fixedly connected to the rotating base (34), a second sprocket wheel (62) is rotatably connected to the base (33), and a chain (63) for transmission is wound between the first sprocket wheel (61) and the second sprocket wheel (62), and a control unit (64) for controlling the rotation of the second sprocket wheel (62) on the body is provided on the base (33).

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