Self-positioning butt-joint welded pipe welding equipment and method

Abstract

The invention relates to the technical field of welded pipe welding, in particular to self-positioning butt-joint welded pipe welding equipment and method.The self-positioning butt-joint welded pipe welding equipment comprises a positioning base, a plurality of adjusting motors are arranged in the positioning base, the adjusting motors are fixedly connected with adjusting shafts, one side of the positioning base is fixedly connected with a fixed base, and the other side of the positioning base is fixedly connected with a movable base; the top of the fixed base is fixedly connected with a welding mechanical arm; the two ends of the positioning base are fixedly connected with traction units, and the top face of the positioning base is slidably connected with two butt joint units. In the initial state, the butt joint base is attached to the traction unit, and at the moment, the welded pipe is clamped through the clamping plate; then, a rotating disc can be rotated through a rotating shaft, an adjusting plate and a clamping plate are driven to rotate through rotation of the rotating disc, when the clamping plate rotates, the welded pipe can be driven to rotate, and when the welded pipe rotates, a V-shaped groove can be ground in the butt joint position through a grinding unit; and meanwhile, the V-shaped groove is welded through the welding mechanical arm.

Description

Technical Field

[0001] The present invention relates to the technical field of welded pipe welding, and specifically provides a welded pipe welding device and method with self-positioning docking. Background Technique

[0002] Welded steel pipes, also known as welded pipes, are steel pipes made by welding steel plates or strips after being coiled and formed, generally with a fixed length of 6 meters. The production process of welded steel pipes is simple, with high production efficiency, a variety of product specifications, and low equipment investment, but generally has lower strength than seamless steel pipes; when longer welded pipes are needed, multiple welded pipes need to be butt-welded. Butt-welding is to align the ends of two steel pipes and then weld them. Its advantage is firm connection and is suitable for occasions with relatively high pressure inside the pipeline. Considering that in the prior art, during docking, the welded pipe is pushed to move inside the docking base and clamped when it comes into contact with the docking base. At this time, the position of the welded pipe may shift during the movement inside the docking base and may not be able to enter the docking base for clamping. At the same time, since the welded pipe needs to be towed for movement, more power is consumed at this time; considering that the prior art cannot rotate after docking, it will cause the welding robotic arm to need to move repeatedly to complete welding, not only requiring more programming operations for the welding robotic arm, but also possibly resulting in incomplete welding, thus affecting the welding quality. Summary of the Invention

[0003] The purpose of the present invention is to provide a welded pipe welding device and method with self-positioning docking to solve the problems raised in the above background technique.

[0004] To solve the above technical problems, the present invention is realized through the following technical solutions: The present invention is a welded pipe welding device with self-positioning docking, including a positioning base. A plurality of adjustment motors are arranged inside the positioning base, and the adjustment motors are all fixedly connected with adjustment shafts. One side of the positioning base is fixedly connected with a fixed base, and the top of the fixed base is fixedly connected with a welding robotic arm; Both ends of the positioning base are fixedly connected with traction units. Two docking units are slidably connected to the top surface of the positioning base, and a grinding unit is slidably connected to the top surface of the positioning base; the adjustment shafts are in contact with the docking units; The docking unit includes a docking base, which is slidably connected to the positioning base, the bottom of the docking base is in contact with the adjusting shaft, the inner surface of the docking base is provided with a sliding groove, and the inner surface of the docking base is slidably connected with a rotating disk; multiple rotating shafts are rotatably connected on both sides of the rotating disk, and a through groove is provided in the middle of the rotating disk; a sliding block is slidably connected in the sliding groove; an adjusting plate is slidably connected in the sliding block, and multiple adjusting springs are fixedly connected between the sliding block and the adjusting plate; a clamping plate is fixedly connected to the side of the adjusting plate away from the sliding block.

[0005] Furthermore, both ends of the clamping plate are inclined toward the rotating disk.

[0006] Furthermore, a plurality of first traction wheels are rotatably connected to both sides of the docking base, and the first traction wheels are in contact with the positioning base.

[0007] Furthermore, the traction unit includes a traction base, which is fixedly connected to the positioning base, and the inner surface of the traction base is provided with a plurality of mounting grooves, in which electromagnets are fixedly connected, and an adjustment block is slidably connected in the mounting groove, and the end of the adjustment block close to the electromagnet is magnetic, and the inner surface of the adjustment block is rotatably connected with a drive shaft and a traction shaft, the drive shaft is closer to the electromagnet than the traction shaft, a transmission belt is transmission-connected between the drive shaft and the traction shaft, and a plurality of drive magnets are fixedly connected to the surface of the drive shaft.

[0008] Furthermore, a brake groove is provided on one side of the adjustment block, and a brake telescopic rod is arranged in the brake groove.

[0009] Further, the grinding unit includes a grinding base, the bottom of the grinding base is slidably connected to the positioning base, baffles are fixedly connected to both sides of the grinding base, the baffles are used to prevent contact with the docking unit, the top of the grinding base is fixedly connected to a limit block, the top of the grinding base is fixedly connected to an adjustable telescopic rod, one end of the adjustable telescopic rod is fixedly connected to a first telescopic block, both ends of the first telescopic block are sleeved with second telescopic blocks, the end of the second telescopic block away from the first telescopic block is fixedly connected to a driven shaft, and the driven shaft is slidably connected to the limit block; The top of the driven shaft is respectively fixedly connected with a first connecting rod and a second connecting rod, the middle parts of the first connecting rod and the second connecting rod are rotatably connected with a limiting shaft, the ends of the first connecting rod and the second connecting rod away from the driven shaft are fixedly connected with a sliding shaft, the ends of the first connecting rod and the second connecting rod away from the driven shaft are slidably connected with a grinding block, an adjusting groove is provided on the inner surface of the grinding block, the adjusting groove is slidably connected with the sliding shaft, the grinding blocks are hinged with a hinge shaft, the bottom of the grinding block is rotatably connected with a fixed shaft, and the fixed shaft and the limiting shaft are fixedly connected to a grinding base.

[0010] Furthermore, support plates are fixedly connected to both sides of the positioning base. Limiting grooves are provided on both sides of the positioning base. A traction block is fixedly connected to the side of the grinding base away from the positioning base. The traction block is slidably connected to the limiting groove. A second traction wheel is arranged at the bottom of the traction block, and the second traction wheel contacts the support plate.

[0011] A welding method for self-positioning butt welding of welded pipes, the method comprising the following steps: S1. Pretreatment: Before welding, remove impurities such as oil stains, burrs, and rust on the surface of the welded pipe that needs to be butted. When an oxide layer forms on the surface of the welded pipe, it can be removed by chemical agents to avoid affecting the welding quality, and check whether there are cracks or other conditions on the surface of the welded pipe after treatment; S2. Welded pipe butt joint: Place the pretreated welded pipe into the traction unit, and transfer the welded pipe into the butt joint unit through the traction unit. At the same time, the traction unit will move the welded pipe a certain distance outside the butt joint unit to facilitate welding and grinding. At this time, the butt joint unit is pulled towards the middle of the positioning base through the adjusting shaft and the first traction wheel; S3. Grinding and welding: When the positioning base moves to the designated position, the welded pipe can be ground by the grinding unit, and a V-shaped groove is ground on the butt joint surface of the welded pipe. After grinding, the V-shaped groove is welded by the welding robotic arm, thereby completing the butt joint and welding of the welded pipe. Subsequently, the welded pipe can be pulled out of the equipment by the traction unit on one side.

[0012] The present invention has the following beneficial effects: 1. In the initial state of the present invention, the butt joint base is in contact with the traction unit. At this time, the welded pipe is clamped by the clamping plate; subsequently, the rotating disk can be rotated by the rotating shaft, and the rotating disk drives the adjusting plate and the clamping plate to rotate. When the clamping plate rotates, it will drive the welded pipe to rotate. When the welded pipe rotates, the grinding unit can grind a V-shaped groove at the butt joint, and at the same time, the V-shaped groove is welded by the welding robotic arm.

[0013] 2. The present invention starts the electromagnet in the installation groove and adjusts the position of the adjusting block through the electromagnet. When the adjusting block moves, it will drive the traction shaft to move at the same time. When the traction shaft contacts the welded pipe, it will maintain its position. At this time, the driving magnet on the surface of the driving shaft will push the driving shaft to rotate under the magnetic force of the electromagnet. When the driving shaft rotates, power can be transmitted to the traction shaft through the transmission belt, thereby enabling the traction shaft to rotate. When the traction shaft rotates, the welded pipe can be pulled to move.

[0014] 3. The present invention can grind a V-shaped groove on the welded pipe by contacting the grinding block with the rotating welded pipe. During welding, the V-shaped groove will be welded, thereby enhancing the structural strength after welding, increasing the airtightness of the welded pipe, reducing the weld beads generated by welding, and reducing the turbulence generated by the contact between the fluid in the pipe and the weld beads. When grinding different welded pipes, different angles can be adjusted for grinding, thereby making the welding effect different. After welding, the angle can be adjusted to be flat, and the surface of the welded pipe after welding can be ground, thereby reducing the subsequent grinding process and increasing the production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 is a schematic diagram of the main structure of the present invention; Figure 2 is a schematic diagram of the structure at the traction unit of the present invention; Figure 3 is a cross-sectional view of the traction unit of the present invention; Figure 4 is the present invention Figure 3 is a partially enlarged view of part A; Figure 5 is an exploded view of the traction unit of the present invention (excluding the traction base); Figure 6 is a schematic diagram of the structure at the docking unit of the present invention; Figure 7 is a disassembled view of the structure at the docking unit of the present invention; Figure 8 is the present invention Figure 7 is a partially enlarged view of part B; Figure 9 is a schematic diagram of the structure at the grinding unit of the present invention; Figure 10 is an exploded view of the grinding unit of the present invention; Figure 11 is a schematic diagram of the structure of the welding method of the present invention.

[0017] In the drawings, the list of components represented by each reference numeral is as follows: In the figure: 1. positioning base; 11. adjusting shaft; 12. fixed base; 13. welding robotic arm; 14. support plate; 15. limiting groove; 2. traction unit; 21. traction base; 22. mounting groove; 23. electromagnet; 24. adjusting block; 25. driving shaft; 251. driving magnet; 26. transmission belt; 27. traction shaft; 28. braking telescopic rod; 3. docking unit; 31. docking base; 311. sliding groove; 32. first traction wheel; 33. rotating disc; 331. rotating shaft; 332. through groove; 34. sliding block; 35. adjusting plate; 36. adjusting spring; 37. clamping plate; 4. grinding unit; 41. grinding base; 411. limiting block; 42. adjusting telescopic rod; 421. first telescopic block; 422. second telescopic block; 43. driven shaft; 44. limiting shaft; 441. first connecting rod; 442. second connecting rod; 443. sliding shaft; 45. grinding block; 451. adjusting groove; 452. hinge shaft; 46. traction block; 461. second traction wheel. Specific embodiments

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1-11 As shown, the present invention is a welded pipe welding device with self-positioning docking, including a positioning base 1. A plurality of adjusting motors are arranged inside the positioning base 1, and the adjusting motors are all fixedly connected with an adjusting shaft 11. One side of the positioning base 1 is fixedly connected with a fixed base 12, and the top of the fixed base 12 is fixedly connected with a welding robotic arm 13; Traction units 2 are fixedly connected to both ends of the positioning base 1. Two docking units 3 are slidably connected to the top surface of the positioning base 1, and a grinding unit 4 is slidably connected to the top surface of the positioning base 1; the adjusting shaft 11 contacts the docking unit 3; The docking unit 3 includes a docking base 31, the docking base 31 is slidably connected to the positioning base 1, the bottom of the docking base 31 contacts the adjusting shaft 11, a sliding groove 311 is formed on the inner surface of the docking base 31, and a rotating disk 33 is slidably connected to the inner surface of the docking base 31; both sides of the rotating disk 33 are rotatably connected with a plurality of rotating shafts 331, and a through groove 332 is formed in the middle of the rotating disk 33; a sliding block 34 is slidably connected in the sliding groove 311; an adjusting plate 35 is slidably connected in the sliding block 34, and a plurality of adjusting springs 36 are fixedly connected between the sliding block 34 and the adjusting plate 35; a clamping plate 37 is fixedly connected to one side of the adjusting plate 35 away from the sliding block 34.

[0020] In this embodiment, considering that in the prior art, during docking, the welding pipe is pushed to move in the docking base 31 and clamped when it contacts the docking base 31. At this time, the position of the welding pipe may shift during the movement in the docking base 31 and may not be able to enter the docking base 31 for clamping. At the same time, since it is necessary to pull the welding pipe to move, more power needs to be consumed at this time; considering that the prior art cannot rotate after docking, it will cause the welding robot arm 13 to need to move repeatedly to perform mechanical welding. Not only more programming operations need to be performed on the welding robot arm 13, but it may also cause incomplete welding, thus affecting the welding quality. When clamping the welding pipe, in the initial state, the docking base 31 is attached to the traction unit 2. When the traction unit 2 pulls the welding pipe into the docking unit 3, the adjusting spring 36 will push the adjusting plate 35 towards the welding pipe. When the adjusting plate 35 moves, it will drive the clamping plate 37 to move. When the clamping plate 37 is in contact with the welding pipe, the welding pipe can be clamped. During docking, by starting the adjusting motor and rotating the adjusting shaft 11, the docking base 31 can be pulled towards the middle of the positioning base 1. Since the clamping plate 37 is clamping the welding pipe at this time, when the docking base 31 moves, it will also drive the welding pipe to move, thereby reducing the power consumption of the traction unit 2. When the welding pipes come into contact, the movement stops. Subsequently, the rotating disk 33 can be rotated through the rotating shaft 331, and the rotation of the rotating disk 33 drives the adjusting plate 35 and the clamping plate 37 to rotate. When the clamping plate 37 rotates, it will drive the welding pipe to rotate. When the welding pipe rotates, the grinding unit 4 can grind a V-shaped groove at the docking joint, and at the same time, the welding robot arm 13 welds the V-shaped groove.

[0021] Specifically, both ends of the clamping plate 37 are inclined towards the rotating disk 33.

[0022] In this embodiment, considering that different sizes of welded pipes will be clamped during docking, a larger welded pipe may be blocked by the clamping plate 37 and the adjusting plate 35, resulting in failure to clamp normally. At the same time, when the docking base 31 is far from the traction unit 2, the traction unit 2 may cause deviation when transferring the welded pipe to the docking base 31, which may also result in failure to clamp the welded pipe normally. Since both ends of the clamping plate 37 are inclined toward the rotating disk 33, when the welding pipe contacts the clamping plate 37, it will move on the inclined surface of the clamping plate 37 and squeeze the clamping plate 37 during the movement. At this time, the clamping plate 37 will move toward the direction of the rotating disk 33 due to the squeezing force, and leave enough space for the welding pipe to enter; when the welding pipe is tilted due to the long distance, when the welding pipe contacts the clamping plate 37, it will enter the docking base 31 and clamp the welding pipe by the reset force of the adjustment spring 36. Since the adjustment springs 36 are the same, the rebound force generated is also the same. At this time, the adjustment spring 36 will keep the welding pipe in the center, which can make it easier to grind and weld.

[0023] Specifically, a plurality of first traction wheels 32 are rotatably connected to both sides of the docking base 31 , and the first traction wheels 32 are in contact with the positioning base 1 .

[0024] In this embodiment, by setting the first traction wheel 32, when the adjusting shaft 11 pulls the docking base 31 to move, the sliding friction can be converted into rolling friction, thereby reducing power consumption. At the same time, when the docking base 31 pulls the weld pipe to move, auxiliary movement can be performed. When the docking base 31 does not pull the weld pipe, it can only move through the first traction wheel 32, thereby reducing energy consumption.

[0025] Specifically, the traction unit 2 includes a traction base 21, which is fixedly connected to the positioning base 1. A plurality of mounting grooves 22 are provided on the inner surface of the traction base 21. An electromagnet 23 is fixedly connected in each of the mounting grooves 22. An adjustment block 24 is slidably connected in the mounting groove 22. The end of the adjustment block 24 close to the electromagnet 23 is magnetic. A driving shaft 25 and a traction shaft 27 are rotatably connected to the inner surface of the adjustment block 24. The driving shaft 25 is closer to the electromagnet 23 than the traction shaft 27. A transmission belt 26 is transmission-connected between the driving shaft 25 and the traction shaft 27. A plurality of driving magnets 251 are fixedly connected to the surface of the driving shaft 25.

[0026] In this embodiment, considering that the prior art usually uses a shaft to pull the welded pipe to move, during the pulling process, due to the small contact surface between the shaft and the welded pipe, the power transmission efficiency is low during the pulling process, which will cause excessive power to be wasted; When using the device, first place the welded pipe into the traction base 21, then start the electromagnet 23 in the installation groove 22, and adjust the position of the adjustment block 24 through the electromagnet 23. When the adjustment block 24 moves, it will drive the traction shaft 27 to move at the same time. When the traction shaft 27 contacts the welded pipe, it will maintain its position. At this time, the drive magnet 251 on the surface of the drive shaft 25 will push the drive shaft 25 to rotate under the magnetic force of the electromagnet 23. When the drive shaft 25 rotates, it can transmit power to the traction shaft 27 through the transmission belt 26, so that the traction shaft 27 can rotate. When the traction shaft 27 rotates, it can then traction the welded pipe to move.

[0027] Specifically, a braking groove is formed on one side of the adjustment block 24, and a braking telescopic rod 28 is arranged in the braking groove.

[0028] In this embodiment, when it is necessary to stop traction of the welded pipe or prevent the welded pipe from moving, by starting the braking telescopic rod 28, the braking telescopic rod 28 can be brought into contact with the drive shaft 25, and the rotation of the drive shaft 25 can be blocked by friction. In this way, traction can be stopped after the welded pipe enters the docking unit 3, or the movement of the welded pipe can be blocked when the docking unit 3 traction the welded pipe. In this way, braking measures can be taken for the welded pipe in an emergency to prevent collisions between the welded pipes.

[0029] Specifically, the grinding unit 4 includes a grinding base 41. The bottom of the grinding base 41 is slidably connected to the positioning base 1. Baffles are fixedly connected to both sides of the grinding base 41, and the baffles are used to prevent contact with the docking unit 3. A limiting block 411 is fixedly connected to the top of the grinding base 41. An adjusting telescopic rod 42 is fixedly connected to the top of the grinding base 41. One end of the adjusting telescopic rod 42 is fixedly connected to a first telescopic block 421. Both ends of the first telescopic block 421 are sleeved with second telescopic blocks 422. The end of the second telescopic block 422 away from the first telescopic block 421 is fixedly connected to a driven shaft 43, and the driven shaft 43 is slidably connected to the limiting block 411; A first connecting rod 441 and a second connecting rod 442 are respectively fixedly connected to the top of the driven shaft 43. A limiting shaft 44 is rotatably connected to the middle of both the first connecting rod 441 and the second connecting rod 442. Sliding shafts 443 are fixedly connected to the ends of the first connecting rod 441 and the second connecting rod 442 away from the driven shaft 43. Grinding blocks 45 are slidably connected to the ends of the first connecting rod 441 and the second connecting rod 442 away from the driven shaft 43. An adjusting groove 451 is formed on the inner surface of the grinding block 45, and the adjusting groove 451 is slidably connected to the sliding shaft 443. A hinge shaft 452 is hinged between the grinding blocks 45. Fixed shafts are rotatably connected to the bottoms of the grinding blocks 45, and both the fixed shaft and the limiting shaft 44 are fixedly connected to the grinding base 41.

[0030] In this embodiment, considering that the welded pipe is not polished during welding in the prior art, it may cause large thermal deformation at the welding joint during the welding process, and at the same time, there may be defects such as tiny gaps at the welding joint, which will lead to poor airtightness. When the fluid in the welded pipe passes through, leakage will occur, posing a safety hazard; when welding galvanized parts, directly welding without polishing will result in the generation of a large amount of toxic gases, which will affect the health of the staff. After the welded pipes are butted, by adjusting the grinding base 41 to the butting seam of the welded pipes, at this time, by starting the adjusting telescopic rod 42, the first telescopic block 421 moves. When the first telescopic block 421 moves, the second telescopic block 422 will move outwards or inwards synchronously. When the second telescopic block 422 moves, it will drive the driven shaft 43 to slide within the limit block 411. When the driven shaft 43 moves, it will drive the first connecting rod 441 and the second connecting rod 442 to rotate around the limit shaft 44. When the first connecting rod 441 and the second connecting rod 442 rotate, they will drive the sliding shaft 443 to move. Since the sliding shaft 443 will slide within the adjusting groove 451 of the grinding block 45, when the sliding shaft 443 moves, it will drive the grinding block 45 to rotate on the fixed shaft. At this time, when the sliding shaft 443 slides within the adjusting groove 451, the angle of the grinding block 45 will change. When the sliding shafts 443 approach each other, the angle of the grinding block 45 will gradually decrease. At this time, by contacting the rotating welded pipe with the grinding block 45, a V-shaped groove can be ground out. During welding, the V-shaped groove will be welded, which can enhance the structural strength after welding, increase the airtightness of the welded pipe, reduce the weld beads generated during welding, and reduce the turbulence generated by the contact between the fluid in the pipe and the weld beads; when grinding different welded pipes, different angles can be adjusted for grinding, so that the welding effect can be different. After welding, the angle can be adjusted to be flat, and the surface of the welded pipe after welding can be ground, which can reduce the subsequent grinding process and increase the production efficiency.

[0031] Specifically, both sides of the positioning base 1 are fixedly connected with support plates 14. Both sides of the positioning base 1 are provided with limit grooves 15. The side of the grinding base 41 away from the positioning base 1 is fixedly connected with a traction block 46. The traction block 46 is slidably connected with the limit groove 15. The bottom of the traction block 46 is provided with a second traction wheel 461, and the second traction wheel 461 contacts the support plate 14.

[0032] In this embodiment, through the arrangement of the traction block 46 and the second traction wheel 461, the grinding unit 4 can be automatically adjusted in position by devices such as laser measurement without manual adjustment, and grinding can be carried out when it is aligned with the butting seam of the welded pipe, which can save the use of manpower. At the same time, when adjusting the position of the grinding unit 4 by high-precision devices, the grinding position can be more accurate, and the grinding effect will be better.

[0033] A welding method for self-positioning butt welding of welded pipes, the method comprising the following steps: S1. Pretreatment: Before welding, remove impurities such as oil stains, burrs, and rust on the surface of the welded pipe that needs to be butted. When an oxide layer forms on the surface of the welded pipe, it can be removed by chemical agents to avoid affecting the welding quality, and check whether there are cracks or other conditions on the surface of the welded pipe after treatment; S2. Welded pipe butting: Place the pretreated welded pipe into the traction unit 2, and transfer the welded pipe to the butting unit 3 through the traction unit 2. At the same time, the traction unit 2 will move the welded pipe a certain distance outside the butting unit 3 to facilitate welding and grinding. At this time, the butting unit 3 is pulled towards the middle of the positioning base 1 through the adjusting shaft 11 and the first traction wheel 32; S3. Grinding and welding: When the positioning base 1 moves to the designated position, the welded pipe can be ground by the grinding unit 4, and a V-shaped groove is ground on the butting surface of the welded pipe. After grinding, the V-shaped groove is welded by the welding robot arm 13, thus completing the butting and welding of the welded pipe. Subsequently, the welded pipe can be pulled out of the equipment by the traction unit 2 on one side.

[0034] During use, First, when using the equipment, first place the welded pipe into the traction base 21, then start the electromagnet 23 in the installation groove 22, and adjust the position of the adjusting block 24 through the electromagnet 23. When the adjusting block 24 moves, it will drive the traction shaft 27 to move at the same time. When the traction shaft 27 contacts the welded pipe, it will maintain its position. At this time, the drive magnet 251 on the surface of the drive shaft 25 will push the drive shaft 25 to rotate under the magnetic force of the electromagnet 23. When the drive shaft 25 rotates, power can be transmitted to the traction shaft 27 through the transmission belt 26, thereby enabling the traction shaft 27 to rotate. When the traction shaft 27 rotates, the welded pipe can be pulled to move; When it is necessary to stop pulling the welded pipe or prevent the welded pipe from moving, by starting the brake telescopic rod 28, the brake telescopic rod 28 can be brought into contact with the drive shaft 25, and the rotation of the drive shaft 25 can be blocked by friction, thereby stopping the traction after the welded pipe enters the butting unit 3, or preventing the welded pipe from moving when the butting unit 3 pulls the welded pipe. Thus, braking measures can be taken for the welded pipe in case of emergency to prevent collisions between welded pipes.

[0035] Second, when clamping the welded pipe, in the initial state, the butting base 31 is in contact with the traction unit 2. When the traction unit 2 pulls the welded pipe into the butting unit 3, the adjusting spring 36 will push the adjusting plate 35 towards the welded pipe. When the adjusting plate 35 moves, it will drive the clamping plate 37 to move. When the clamping plate 37 is in contact with the welded pipe, the welded pipe can be clamped; During docking, by starting the adjustment motor and rotating the adjustment shaft 11, the docking base 31 can be pulled towards the middle of the positioning base 1. At this time, since the clamping plate 37 is clamping the welded pipe, when the docking base 31 moves, it will also drive the welded pipe to move, thereby reducing the power consumption of the traction unit 2. When the welded pipes come into contact, they stop moving. Subsequently, the rotating disk 33 can be rotated by the rotating shaft 331, and the rotating disk 33 drives the adjusting plate 35 and the clamping plate 37 to rotate. At this time, the clamping plate 37 drives the welded pipe to rotate; Since both ends of the clamping plate 37 are inclined towards the rotating disk 33, when the welded pipe contacts the clamping plate 37, it will move on the inclined surface of the clamping plate 37 and squeeze the clamping plate 37 during the movement. At this time, the clamping plate 37 will move towards the rotating disk 33 under the extrusion force and leave enough space for the welded pipe to enter; when the welded pipe is inclined due to too large a distance, when the welded pipe contacts the clamping plate 37, it will enter the docking base 31, and the welded pipe will be clamped by the restoring force of the adjusting spring 36. Since the adjusting springs 36 are all the same and the generated resilience is also the same, the adjusting spring 36 will keep the welded pipe at the center at this time, making it more convenient for grinding and welding; Through the setting of the first traction wheel 32, when the adjustment shaft 11 pulls the docking base 31 to move, the sliding friction can be converted into rolling friction, thereby reducing power consumption. At the same time, it can assist in moving when the docking base 31 pulls the welded pipe to move. When the docking base 31 does not pull the welded pipe, it can move only through the first traction wheel 32, thereby reducing energy consumption.

[0036] Finally, after the welded pipes are butted, by adjusting the grinding base 41 to the butting seam of the welded pipes, at this time, by starting the adjusting telescopic rod 42, the first telescopic block 421 moves. When the first telescopic block 421 moves, the second telescopic block 422 will move outward or inward synchronously. When the second telescopic block 422 moves, it will drive the driven shaft 43 to slide within the limit block 411. When the driven shaft 43 moves, it will drive the first connecting rod 441 and the second connecting rod 442 to rotate around the limit shaft 44. When the first connecting rod 441 and the second connecting rod 442 rotate, they will drive the sliding shaft 443 to move. Since the sliding shaft 443 will slide within the adjusting groove 451 of the grinding block 45, when the sliding shaft 443 moves, it will drive the grinding block 45 to rotate on the fixed shaft. At this time, when the sliding shaft 443 slides within the adjusting groove 451, the angle of the grinding block 45 will change. When the sliding shafts 443 approach each other, the angle of the grinding block 45 will gradually decrease. At this time, by contacting the rotating welded pipes with the grinding block 45, a V-shaped groove can be ground out. During welding, the V-shaped groove will be welded, which can enhance the structural strength after welding, increase the airtightness of the welded pipes, reduce the weld beads generated during welding, and reduce the turbulence generated by the contact between the fluid in the pipe and the weld beads. When grinding different welded pipes, different angles can be adjusted for grinding, so that the welding effect can be different. After welding, the angle can be adjusted to be flat, and the surface of the welded pipes after welding can be ground, which can reduce the subsequent grinding process and increase the production efficiency; Through the settings of the traction block 46 and the second traction wheel 461, the grinding unit 4 can be automatically adjusted without manual adjustment. The position can be automatically adjusted through devices such as laser measurement and grinding can be carried out when it is aligned with the butting seam of the welded pipes, which can save the use of manpower. At the same time, when the position of the grinding unit 4 is adjusted by high-precision devices, the grinding position can be more accurate, and the grinding effect will be better.

[0037] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A welded pipe welding device for self-positioning docking, comprising a positioning base (1). Inside the positioning base (1), there are multiple adjustment motors, and each adjustment motor is fixedly connected to an adjustment shaft (11). On one side of the positioning base (1), there is a fixed base (12) fixedly connected, and on the top of the fixed base (12), there is a welding robotic arm (13). Characterized in that: At both ends of the positioning base (1), there are traction units (2) fixedly connected. On the top surface of the positioning base (1), there are two docking units (3) slidably connected, and on the top surface of the positioning base (1), there is a grinding unit (4) slidably connected; the adjustment shaft (11) contacts the docking unit (3). The docking unit (3) includes a docking base (31), which is slidably connected to the positioning base (1). The bottom of the docking base (31) contacts the adjustment shaft (11). Inside the docking base (31), there is a sliding groove (311). Inside the docking base (31), there is a rotating disk (33) slidably connected; on both sides of the rotating disk (33), there are multiple rotating shafts (331) rotatably connected. In the middle of the rotating disk (33), there is a through groove (332); inside the sliding groove (311), there is a sliding block (34) slidably connected; inside the sliding block (34), there is an adjustment plate (35) slidably connected. Between the sliding block (34) and the adjustment plate (35), there are multiple adjustment springs (36) fixedly connected; on the side of the adjustment plate (35) away from the sliding block (34), there is a clamping plate (37).

2. The self-positioning docking welded pipe welding equipment according to claim 1, characterized in that: Both ends of the clamping plate (37) are inclined towards the rotating disk (33).

3. The self-positioning butt welding pipe welding equipment according to claim 2, characterized in that: On both sides of the docking base (31), there are multiple first traction wheels (32) rotatably connected, and the first traction wheels (32) contact the positioning base (1).

4. The self-positioning docking welded pipe welding equipment according to claim 3, characterized in that: The traction unit (2) includes a traction base (21), which is fixedly connected to the positioning base (1). Inside the traction base (21), there are multiple installation grooves (22). Inside the installation grooves (22), there are electromagnets (23) fixedly connected. Inside the installation grooves (22), there are adjustment blocks (24) slidably connected. One end of the adjustment block (24) close to the electromagnet (23) has magnetism. Inside the adjustment block (24), there are a driving shaft (25) and a traction shaft (27) rotatably connected. The driving shaft (25) is closer to the electromagnet (23) than the traction shaft (27). Between the driving shaft (25) and the traction shaft (27), there is a transmission belt (26) drivingly connected. On the surface of the driving shaft (25), there are multiple driving magnets (251).

5. The self-positioning butt welding pipe welding equipment according to claim 4, characterized in that: On one side of the adjustment block (24), there is a braking groove, and inside the braking groove, there is a braking telescopic rod (28).

6. The self-positioning docking welded pipe welding equipment according to claim 5, characterized in that: The grinding unit (4) includes a grinding base (41), the bottom of the grinding base (41) is slidably connected to the positioning base (1), baffles are fixedly connected to both sides of the grinding base (41), and the baffles are used to prevent contact with the docking unit (3). A limiting block (411) is fixedly connected to the top of the grinding base (41), and an adjusting telescopic rod (42) is fixedly connected to the top of the grinding base (41). One end of the adjusting telescopic rod (42) is fixedly connected to a first telescopic block (421), and second telescopic blocks (422) are sleeved on both ends of the first telescopic block (421). One end of the second telescopic block (422) away from the first telescopic block (421) is fixedly connected to a driven shaft (43), and the driven shaft (43) is slidably connected to the limiting block (411). A first connecting rod (441) and a second connecting rod (442) are respectively fixedly connected to the top of the driven shaft (43). Limiting shafts (44) are rotatably connected to the middle parts of the first connecting rod (441) and the second connecting rod (442). Sliding shafts (443) are fixedly connected to the ends of the first connecting rod (441) and the second connecting rod (442) away from the driven shaft (43). Grinding blocks (45) are slidably connected to the ends of the first connecting rod (441) and the second connecting rod (442) away from the driven shaft (43). An adjusting groove (451) is formed on the inner surface of the grinding block (45), and the adjusting groove (451) is slidably connected to the sliding shaft (443). An articulated shaft (452) is hinged between the grinding blocks (45). Fixed shafts are rotatably connected to the bottoms of the grinding blocks (45), and the fixed shafts and the limiting shafts (44) are both fixedly connected to the grinding base (41).

7. The self-positioning butt welding pipe welding equipment according to claim 6, characterized in that: Support plates (14) are fixedly connected to both sides of the positioning base (1). Limiting grooves (15) are formed on both sides of the positioning base (1). A traction block (46) is fixedly connected to the side of the grinding base (41) away from the positioning base (1). The traction block (46) is slidably connected to the limiting groove (15). A second traction wheel (461) is arranged at the bottom of the traction block (46), and the second traction wheel (461) is in contact with the support plate (14).

8. A self-positioning docking welding method, which is applicable to the self-positioning docking welded pipe welding equipment described in claim 7 above, and is characterized in that: S1. Pretreatment: Before welding, remove impurities such as oil stains, burrs, and rust on the surface of the welded pipe that needs to be docked. When an oxide layer forms on the surface of the welded pipe, it can be removed by chemical agents to avoid affecting the welding quality, and check whether there are cracks or other conditions on the surface of the welded pipe after treatment; S2. Welded pipe docking: Place the pretreated welded pipe into the traction unit (2), and transfer the welded pipe to the docking unit (3) through the traction unit (2). At the same time, the traction unit (2) will move the welded pipe a certain distance outside the docking unit (3) to facilitate welding and grinding. At this time, the docking unit (3) is pulled towards the middle of the positioning base (1) through the adjusting shaft (11) and the first traction wheel (32); S3. Grinding and welding. When the positioning base (1) moves to the specified position, the grinding unit (4) can grind the welded pipe, and grind a V-shaped groove on the butt joint surface of the welded pipe. After grinding, the welding robot arm (13) welds the V-shaped groove, thereby completing the butt joint and welding of the welded pipe. Subsequently, the welded pipe can be pulled out of the equipment by the traction unit (2) on one side.

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