A multi-degree-of-freedom automatic positioning and welding tool clamp for main and auxiliary pipes of an extra-high voltage steel tube tower

Abstract

This invention relates to the technical field of welding clamping fixtures for steel pipe towers, specifically a multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of ultra-high voltage steel pipe towers. The fixture includes a frame, a first guide rail, a second guide rail, a main pipe clamping mechanism, an auxiliary pipe clamping mechanism, a first motor, a second motor, and a control system. By setting the first and second guide rails perpendicular to each other, the main pipe clamping mechanism and the auxiliary pipe clamping mechanism can slide precisely along the guide rails. Combined with the stable clamping of the main pipe by the positioning sleeve and clamping cone, and the reliable fixation of the auxiliary pipe by the auxiliary pipe clamping mechanism, automated positioning of the main and auxiliary pipes is achieved, replacing the traditional method of relying on overhead cranes / cranes for hoisting and manual alignment. This ensures the automated positioning accuracy of the fixture, reduces manual operation through the linkage of the motor drive and control system, improves operational stability and cost-effectiveness, thereby efficiently completing the positioning and welding operations of the main and auxiliary pipes of ultra-high voltage steel pipe towers.

Description

Technical Field

[0001] This invention relates to the technical field of welding clamping fixtures for steel pipe towers, specifically to an automatic positioning and welding fixture for main and auxiliary pipes of ultra-high voltage steel pipe towers with multiple degrees of freedom. Background Technology

[0002] In the construction of ultra-high voltage (UHV) power transmission projects, steel pipe towers serve as key supporting structures, and their manufacturing precision and efficiency play a decisive role in the project's quality and progress. The multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of UHV steel pipe towers is a core piece of equipment specifically designed to meet the welding needs of these pipes. It can position and clamp the main and auxiliary pipes, providing a working basis for the welding process. In the past, the welding of the main and auxiliary pipes of UHV steel pipe towers faced many challenging problems. On the one hand, traditional processes heavily relied on manual operation, requiring workers to manually adjust the position and angle of the main and auxiliary pipes based on experience. This not only resulted in extremely high labor intensity but also severely limited positioning accuracy due to human factors, making it difficult to guarantee the precision of each joint and leading to inconsistent overall quality of the steel pipe towers. On the other hand, manual positioning was inefficient and could not meet the demands of large-scale, high-intensity production, severely restricting the project's construction progress. Furthermore, due to the difficulty in ensuring positioning accuracy, defects such as weld deviations, incomplete welds, and missed welds were prone to occur during welding, necessitating significant rework and repair costs, greatly increasing production costs. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of ultra-high voltage steel pipe towers. This solves the problem that existing positioning and welding fixtures, when facing the positioning and welding of the main and auxiliary pipes, suffer from reduced positioning accuracy and consequently lower welding accuracy due to the large size of the main pipes of the steel pipe tower. Traditional welding methods usually rely on large lifting equipment such as cranes or gantry cranes to lift the steel pipes, and then workers manually align and weld the auxiliary pipes. This results in high construction costs.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A multi-degree-of-freedom automatic positioning and welding fixture for main and auxiliary pipes of ultra-high voltage steel pipe towers includes a frame, a first guide rail, a second guide rail, a main pipe clamping mechanism, an auxiliary pipe clamping mechanism, a first motor, a second motor, and a control system. The first and second guide rails are mounted on the frame and are perpendicular to each other. The main pipe clamping mechanism and the auxiliary pipe clamping mechanism are slidably connected to the first and second guide rails, respectively. Positioning sleeves are installed at both ends of the main pipe clamping mechanism, and both positioning sleeves are rotatably connected to the main pipe clamping mechanism. Clamping cones are installed on both positioning sleeves, and the main pipe body is clamped between the two clamping cones. The auxiliary pipe clamping mechanism clamps the auxiliary pipe body. The first motor, the second motor, and the control system are all mounted on the frame. The first and second motors are electrically connected to the control system. The control system drives the main pipe clamping mechanism to clamp the main pipe body via the first motor. The system controls the clamping and movement of the auxiliary pipe body by controlling the second motor to drive the auxiliary pipe clamping mechanism. By setting mutually perpendicular guide rails one and two, the main pipe clamping mechanism and the auxiliary pipe clamping mechanism can slide precisely along the guide rails. Combined with the stable clamping of the main pipe by the positioning sleeve and clamping cone, and the reliable fixation of the auxiliary pipe by the auxiliary pipe clamping mechanism, automated positioning of the main and auxiliary pipes is achieved, replacing the traditional method of relying on overhead cranes / cranes for hoisting and manual alignment. Simultaneously, the use of the first and second motors in conjunction with the control system to drive the mechanism reduces manual intervention and effectively solves the problems of low welding efficiency and high construction costs. This solution achieves precise alignment through guide rail guidance and mechanical clamping structure, ensuring the automated positioning accuracy of the tooling fixtures, reducing manual operation through the linkage of motor drive and control system, improving operational stability and cost-effectiveness, thereby efficiently completing the positioning and welding operations of the main and auxiliary pipes of the ultra-high voltage steel pipe tower.

[0006] Preferably, the auxiliary pipe clamping mechanism includes a clamping seat, a third guide rail, a lower clamping plate, an upper clamping plate, a third motor, and a double helical screw. The clamping seat is slidably connected to the second guide rail. The third guide rail is vertically installed on the rear side of the upper end face of the clamping seat. The rear ends of the lower clamping plate and the upper clamping plate are both slidably connected to the third guide rail. The lower clamping plate is parallel to the upper clamping plate. The third motor is installed on the upper end face of the third guide rail and is electrically connected to the control system. The upper and lower ends of the double helical screw are threaded to the upper and lower clamping plates, respectively. The threads at the upper and lower ends of the double helical screw have opposite directions. The upper end of the double helical screw... The auxiliary pipe is connected to motor number three. The horizontal position of the auxiliary pipe is adjusted by sliding the clamping seat on guide rail number two. Guide rail number three guides the lower clamping plate to slide vertically with the upper clamping plate. Motor number three drives the double helical screw to open and close the upper and lower clamping plates synchronously, achieving stable clamping and tightness control of the auxiliary pipe. This avoids the problems of large positioning deviations, uneven clamping force, low operating efficiency, and difficulty in achieving precise alignment with the main pipe that exist in traditional manual clamping of auxiliary pipes. At the same time, this design ensures the positioning accuracy, clamping stability, and degree of automation of the tooling fixture during the auxiliary pipe clamping process, thereby improving the overall efficiency and quality of the main and auxiliary pipe welding.

[0007] Preferably, a ball head seat is installed on the lower end face of the upper clamping plate, a ball head pin is installed inside the ball head seat, and a clamping plate is installed on the lower end face of the ball head pin. Multiple compensating springs are also evenly distributed between the upper clamping plate and the clamping plate. By setting a mating structure between the ball head seat and the ball head pin between the upper clamping plate and the clamping plate, multi-angle adaptive adjustment of the clamping plate is achieved. The evenly distributed compensating springs provide elastic clamping force, avoiding the problems of poor local fit, deformation of thin-walled auxiliary pipes, and decreased positioning accuracy caused by minor bends, uneven end faces, or angular deviations in the main and auxiliary pipe assembly in traditional rigid clamping. Simultaneously, this design ensures the adaptive fit of the tooling fixture to the auxiliary pipe, spring buffering to prevent excessive clamping and workpiece damage, and consistent positioning, thereby improving the bevel alignment accuracy and welding quality stability during the welding of the main and auxiliary pipes.

[0008] Preferably, elastic pads are installed on the upper end face of the lower clamping plate and the lower end face of the pressure plate. The elastic pads are made of polyurethane material and have serrated anti-slip textures on their surfaces. By setting polyurethane elastic pads on the lower clamping plate and the pressure plate and processing serrated anti-slip textures on their surfaces, problems such as surface indentation of the auxiliary pipe caused by direct clamping with traditional metal clamping plates, slippage of the auxiliary pipe due to vibration during clamping affecting positioning accuracy, and stress concentration caused by hard contact that can easily lead to deformation of thin-walled pipes are avoided. At the same time, this design ensures the surface protection, clamping stability, and adaptability of the tooling fixture for clamping the auxiliary pipe, thereby ensuring stable positioning during the welding of the main and auxiliary pipes and improving the consistency of welding quality.

[0009] Preferably, positioning blocks are installed on the left end faces of both the upper and lower clamping plates. Positioning surfaces are provided on the left end faces of the two positioning blocks. These two positioning surfaces are trumpet-shaped, with their openings pointing towards the main pipe body. The two positioning surfaces are parallel to the outer surface of the main pipe body. The above design avoids which problems in the multi-degree-of-freedom automatic positioning and welding fixtures for the main and auxiliary pipes of ultra-high voltage steel pipe towers, and ensures which performance characteristics of the multi-degree-of-freedom automatic positioning and welding fixtures for the main and auxiliary pipes of ultra-high voltage steel pipe towers. Please summarize this in a paragraph.

[0010] Preferably, anti-blocking rollers are rotatably connected to the front end faces of both positioning blocks, and buffer sleeves are fitted on the circumferential surfaces of both anti-blocking rollers. By installing positioning blocks with flared positioning surfaces at the left ends of the upper and lower clamping plates, with the openings of the positioning surfaces pointing towards the main body and parallel to the outer surface of the main body, jamming or collisions caused by alignment deviations during the process of the auxiliary pipe approaching the main body are avoided, as well as the problems of poor fit between the auxiliary pipe and the main body and low alignment accuracy of the intersection line in traditional positioning structures. At the same time, this design ensures the guiding nature of the tooling fixture in guiding the auxiliary pipe to approach the main body accurately, the fitting accuracy of the intersection line between the auxiliary pipe and the main body, and the smoothness of the positioning process of the main and auxiliary pipes, thereby improving the bevel alignment quality and overall welding efficiency during welding.

[0011] Preferably, a straightening plate is installed between the clamping seat and the third guide rail. The straightening plate is rotatably connected to the clamping seat. The third guide rail is vertically installed on the straightening plate. An arc-shaped straightening groove is concentrically formed on the upper surface of the clamping seat. The center line of the straightening groove coincides with the center line of the second guide rail. A straightening block is installed on the lower surface of the straightening plate. The straightening block is slidably connected in the straightening groove. Straightening springs are installed at both ends of the straightening groove. The two ends of the two straightening springs are respectively connected to the inner wall of the straightening groove and the straightening block. A rotatable straightening disc is installed between the clamping seat and the No. 3 guide rail. Together with the straightening block sliding in the arc-shaped straightening groove and the straightening springs at both ends, it avoids the angle deviation of the auxiliary pipe intersecting with the main pipe caused by manufacturing errors or accumulated assembly deviations, as well as the problems of difficult angle adjustment and easy displacement due to stress release in traditional structures. At the same time, this design ensures the tooling fixture's ability to flexibly adjust the angle of the auxiliary pipe, the precise alignment of the intersection line of the main and auxiliary pipes, and the stability of the angle position after clamping, thereby improving the angle consistency and welding quality during welding.

[0012] Preferably, both the No. 3 guide rail and the inner wall of the straightening groove are provided with reinforcing surfaces. The reinforcing surfaces are subjected to overall tempering and surface nitriding treatment, and the hardness of the reinforcing surfaces after processing is between 65HRC and 70HRC. By providing reinforcing surfaces on the inner walls of the No. 3 guide rail and the straightening groove, and using overall tempering and surface nitriding treatment to achieve a hardness of 65HRC to 70HRC for the reinforcing surfaces, the decrease in positioning accuracy of the guide rail and the straightening groove due to wear and deformation during long-term use is avoided, as well as the failure problem caused by insufficient structural strength during high-frequency adjustment. At the same time, this design ensures the long-term operational accuracy stability of the tooling fixture, the wear resistance and durability of the structure, and the rigid support capacity under heavy load and frequent adjustment conditions, thereby ensuring the continuous accuracy of the main and auxiliary pipe positioning and welding and the service life of the equipment.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] 1. This invention, by setting mutually perpendicular guide rails No. 1 and No. 2, allows the main pipe clamping mechanism and the auxiliary pipe clamping mechanism to slide precisely along the guide rails. Combined with the positioning sleeve and clamping cone for stable clamping of the main pipe and the auxiliary pipe clamping mechanism for reliable fixing of the auxiliary pipe, it realizes the automated positioning of the main and auxiliary pipes, replacing the traditional method of relying on overhead cranes / cranes for hoisting and manual alignment. It ensures the automated positioning accuracy of the tooling fixtures, the linkage between the motor drive and the control system to reduce manual operation, operational stability, and cost economy, thereby efficiently completing the positioning and welding operations of the main and auxiliary pipes of the UHV steel pipe tower.

[0015] 2. This invention achieves horizontal position adjustment of the auxiliary pipe by sliding the clamping seat on the second guide rail. The third guide rail guides the lower clamping plate to slide vertically with the upper clamping plate, and the third motor drives the double helical screw to open and close the upper and lower clamping plates synchronously, achieving stable clamping and tightness control of the auxiliary pipe. This avoids the problems of large positioning deviation, uneven clamping force, low operating efficiency, and difficulty in achieving precise alignment with the main pipe that exist in traditional manual clamping of auxiliary pipes. It ensures the positioning accuracy, clamping stability, and degree of automation of the tooling fixture during the clamping process of the auxiliary pipe, thereby improving the overall efficiency and quality of main and auxiliary pipe welding.

[0016] 3. This invention achieves multi-angle adaptive adjustment of the clamping plate by setting a ball head seat and ball head pin mating structure between the upper clamping plate and the clamping plate. With the help of evenly distributed compensating springs to provide elastic clamping force, it avoids the problems of poor local fitting, deformation of thin-walled auxiliary pipes, and reduced positioning accuracy caused by the auxiliary pipe having slight bends, uneven end faces, or deviations in the assembly angle of the main and auxiliary pipes in traditional rigid clamping. It ensures the adaptive fitting of the tooling fixture to the auxiliary pipe, the spring buffer to avoid over-clamping and damage to the workpiece, and the positioning consistency, thereby improving the bevel alignment accuracy and welding quality stability during the welding of the main and auxiliary pipes. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of the ultra-high voltage steel pipe tower of the present invention.

[0018] Figure 2 For the present invention Figure 1 Sectional view at point AA;

[0019] Figure 3 For the present invention Figure 2 A magnified view of a section at point B in the middle;

[0020] Figure 4 This is a state diagram of the auxiliary pipe body during positioning in the multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of the ultra-high voltage steel pipe tower of the present invention.

[0021] Figure 5 This is a diagram showing the state of the auxiliary pipe body after correction in the multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of the ultra-high voltage steel pipe tower of the present invention.

[0022] Figure 6 For the present invention Figure 2 Sectional view at CC;

[0023] Figure 7 For the present invention Figure 2 Sectional view at point DD.

[0024] In the diagram: 1. Frame; 201. Guide rail 1; 202. Guide rail 2; 3. Main pipe clamping mechanism; 301. Positioning sleeve; 302. Clamping cone; 303. Main pipe body; 4. Auxiliary pipe clamping mechanism; 401. Auxiliary pipe body; 402. Clamping seat; 403. Guide rail 3; 404. Lower clamping plate; 405. Upper clamping plate; 406. Motor 3; 407. Double helical screw; 501. Motor 1; 502. 6. Control system; 701. Positioning block; 702. Positioning surface; 703. Anti-blocking roller; 704. Buffer sleeve; 801. Ball head seat; 802. Ball head pin; 803. Pressing plate; 804. Compensating spring; 805. Elastic pad; 901. Correction plate; 902. Correction groove; 903. Correction block; 904. Correction spring; 905. Reinforcing surface; S1. Forward direction of auxiliary pipe clamping mechanism. Detailed Implementation

[0025] Please see Figures 1 to 5 This invention provides a multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of ultra-high voltage steel pipe towers. The technical solution is as follows:

[0026] A multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of an ultra-high voltage steel pipe tower; please refer to [link / reference]. Figures 1 to 5The system includes a frame 1, a first guide rail 201, a second guide rail 202, a main pipe clamping mechanism 3, an auxiliary pipe clamping mechanism 4, a first motor 501, a second motor 502, and a control system 6. The first guide rail 201 and the second guide rail 202 are both mounted on the frame 1 and are arranged perpendicularly to each other. The main pipe clamping mechanism 3 and the auxiliary pipe clamping mechanism 4 are slidably connected to the first guide rail 201 and the second guide rail 202, respectively. Positioning sleeves 301 are installed at both ends of the main pipe clamping mechanism 3, and both positioning sleeves 301 are rotatably connected to the main pipe clamping mechanism 3. Clamping cones 302 are installed on both positioning sleeves 301, and the main pipe body 303 is clamped between the two clamping cones 302. The auxiliary pipe clamping mechanism 4 clamps the auxiliary pipe body. 401. Motor 1 (501), Motor 2 (502), and Control System 6 are all mounted on Frame 1. Motor 1 (501) and Motor 2 (502) are electrically connected to Control System 6. Control System 6 controls Motor 1 (501) to drive the main pipe clamping mechanism 3 to clamp and move the main pipe body 303. Control System 6 controls Motor 2 (502) to drive the auxiliary pipe clamping mechanism 4 to clamp and move the auxiliary pipe body 401. Auxiliary pipe clamping mechanism 4 includes clamping seat 402, guide rail 3 (203), lower clamping plate 404, upper clamping plate 405, motor 3 (406), and double helical screw 407. Clamping seat 402 is slidably connected to guide rail 2 (202). Guide rail 3 (403) is vertically mounted on the rear side of the upper end face of clamping seat 402. The rear ends of plate 404 and upper clamping plate 405 are slidably connected to guide rail 403. Lower clamping plate 404 is parallel to upper clamping plate 405. Motor 406 is mounted on the upper end face of guide rail 403 and is electrically connected to control system 6. The upper and lower ends of double helical screw 407 are threaded to upper clamping plate 405 and lower clamping plate 404 respectively. The threads of the upper and lower ends of double helical screw 407 are in opposite directions. The upper end face of double helical screw 407 is connected to motor 406. A straightening plate 901 is installed between clamping seat 402 and guide rail 403. The straightening plate 901 is rotatably connected to clamping seat 402. Guide rail 403 is vertically mounted on straightening plate 901. An arc-shaped straightening groove is concentrically formed on the upper end face of clamping seat 402. The centerline of the straightening groove 902 coincides with the centerline of the second guide rail 202. A straightening block 903 is installed on the lower end face of the straightening plate 901, and the straightening block 903 is slidably connected in the straightening groove 902. Straightening springs 904 are installed at both ends of the straightening groove 902, and the two ends of the two straightening springs 904 are respectively connected to the inner wall of the straightening groove 902 and the straightening block 903. The third guide rail 403 and the inner side wall of the straightening groove 902 are provided with reinforcing surfaces 905. The reinforcing surfaces 905 are integrally heat-treated and surface nitrided, and the hardness of the reinforcing surfaces 905 after processing is 68HRC. A ball head seat 801 is installed on the lower end face of the upper clamping plate 405, and a ball head pin 802 is installed in the ball head seat 801. A clamping plate 803 is installed on the lower end face of the ball head pin 802.Multiple compensating springs 804 are evenly distributed between the upper clamping plate 405 and the pressing plate 803. Elastic pads 805, made of polyurethane, are installed on the upper end face of the lower clamping plate 404 and the lower end face of the pressing plate 803. The elastic pads 805 have serrated anti-slip textures on their surface. Positioning blocks 701 are installed on the left end faces of both the upper and lower clamping plates 405 and 404. Positioning surfaces 702 are provided on the left end faces of the two positioning blocks 701. The two positioning surfaces 702 are trumpet-shaped, with their openings pointing towards the main body 303. The two positioning surfaces 702 are parallel to the outer surface of the main body 303. Anti-blocking rollers 703 are rotatably connected to the front end faces of the two positioning blocks 701. Buffer sleeves 704 are fitted onto the circumferential surfaces of the two anti-blocking rollers 703.

[0027] When working, please refer to Figures 1 to 5 The main body 303 is fixed and its position is adjusted by the main body clamping mechanism 3: the two clamping cones 302 clamp the two ends of the main body under the rotation support of the positioning sleeve 301, the first motor 501 drives the main body clamping mechanism 3 to slide along the first guide rail 201, and combined with the rotational freedom of the positioning sleeve 301, the position and angle of the main body in the horizontal direction are pre-adjusted to ensure that the main body axis is aligned with the tooling reference.

[0028] Subsequently, the auxiliary pipe body 401 is precisely clamped by the auxiliary pipe clamping mechanism 4: the No. 3 motor 406 drives the double helical screw 407 to rotate, and the upper clamping plate 405 and the lower clamping plate 404 are opened and closed synchronously along the No. 3 guide rail 403 by using the reverse threads at the upper and lower ends. The polyurethane elastic pad 805 stably clamps the auxiliary pipe through the sawtooth anti-slip texture. At the same time, the ball head seat 801 and the ball head pin 802 cooperate with the compensating spring 804 to make the pressure plate 803 adapt to the unevenness of the auxiliary pipe surface and avoid clamping damage.

[0029] As the auxiliary pipe approaches the main pipe, the trumpet-shaped positioning surface 702 of the positioning block 701 guides the auxiliary pipe to precise alignment, and the buffer sleeve 704 of the anti-blocking roller 703 reduces friction and impact during contact. When there is an angular deviation between the auxiliary pipe and the main pipe, the straightening block 903 slides along the arc-shaped straightening groove 902, and the elastic force of the straightening spring 904 pushes the straightening disk 901 to rotate, which drives the third guide rail 403 and the clamped auxiliary pipe to complete the angle fine adjustment to ensure that the intersection line fits.

[0030] Throughout the process, the reinforced surface 905 with a hardness of 68HRC on the inner wall of the No. 3 guide rail 403 and the straightening groove 902 ensures wear resistance and rigidity under high-frequency adjustment. Each motor is linked through the control system 6 to realize automatic positioning of the main and auxiliary pipes with multiple degrees of freedom.

[0031] The process offers significant advantages: it improves welding efficiency and reduces costs by replacing manual hoisting and alignment with guide rails and motor drive; the double helix screw 407 and ball head structure ensure uniform and adaptive clamping force, preventing workpiece damage; the straightening mechanism and positioning surface 702 design achieve a main and auxiliary pipe intersection line fitting accuracy of ±0.05mm, reducing welding defects; and the reinforced surface 905 treatment ensures long-term precision stability, thus improving the overall quality and reliability of UHV steel pipe tower splicing.

[0032] The specific embodiment of the present invention has been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the embodiments described above. For those skilled in the art, various changes, modifications, substitutions, and variations made to these embodiments without departing from the principles and ideas of the present invention should still fall within the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom automatic positioning and welding fixture for the main and auxiliary pipes of an ultra-high voltage steel pipe tower, characterized in that, The system includes a frame (1), a first guide rail (201), a second guide rail (202), a main pipe clamping mechanism (3), an auxiliary pipe clamping mechanism (4), a first motor (501), a second motor (502), and a control system (6). The first guide rail (201) and the second guide rail (202) are both mounted on the frame (1) and are perpendicular to each other. The main pipe clamping mechanism (3) and the auxiliary pipe clamping mechanism (4) are slidably connected to the first guide rail (201) and the second guide rail (202), respectively. Positioning sleeves (301) are installed at both ends of the main pipe clamping mechanism (3), and both positioning sleeves (301) are rotatably connected to the main pipe clamping mechanism (3). 01) Each of the two clamping cones (302) is installed on the frame (1). The main body (303) is clamped between the two clamping cones (302). The auxiliary body (401) is clamped on the auxiliary body (401). The first motor (501), the second motor (502) and the control system (6) are all installed on the frame (1). The first motor (501) and the second motor (502) are electrically connected to the control system (6). The control system (6) drives the main body clamping mechanism (3) to clamp and move the main body (303) by controlling the first motor (501). The control system (6) drives the auxiliary body clamping mechanism (4) to clamp and move the auxiliary body (401) by controlling the second motor (502). The auxiliary pipe clamping mechanism (4) includes a clamping seat (402), a third guide rail (403), a lower clamping plate (404), an upper clamping plate (405), a third motor (406), and a double helical screw (407). The clamping seat (402) is slidably connected to the second guide rail (202). The third guide rail (403) is vertically installed on the rear side of the upper end face of the clamping seat (402). The rear ends of the lower clamping plate (404) and the upper clamping plate (405) are both slidably connected to the third guide rail (403). The lower clamping plate (404) is parallel to the upper clamping plate (405). The third motor (406) is mounted on the upper end face of the third guide rail (403). The third motor (406) is electrically connected to the control system (6). The upper and lower ends of the double helix screw (407) are threaded to the upper clamping plate (405) and the lower clamping plate (404) respectively. The threads of the upper and lower ends of the double helix screw (407) are opposite. The upper end face of the double helix screw (407) is connected to the third motor (406). A ball head seat (801) is installed on the lower end face of the upper clamping plate (405), a ball head pin (802) is installed inside the ball head seat (801), a pressure plate (803) is installed on the lower end face of the ball head pin (802), and a plurality of compensating springs (804) are evenly distributed between the upper clamping plate (405) and the pressure plate (803).

2. The automatic positioning and welding fixture for main and auxiliary pipes of ultra-high voltage steel pipe towers according to claim 1, characterized in that: Elastic pads (805) are installed on the upper end face of the lower clamping plate (404) and the lower end face of the pressing plate (803). The elastic pads (805) are made of polyurethane material and the surface of the elastic pads (805) is processed with serrated anti-slip texture.

3. The automatic positioning and welding fixture for main and auxiliary pipes of ultra-high voltage steel pipe towers according to claim 1, characterized in that: Positioning blocks (701) are installed on the left end faces of the upper clamping plate (405) and the lower clamping plate (404). Positioning surfaces (702) are provided on the left end faces of the two positioning blocks (701). The two positioning surfaces (702) are trumpet-shaped, and the openings of the two positioning surfaces (702) point towards the main body (303). The two positioning surfaces (702) are parallel to the outer surface of the main body (303).

4. The automatic positioning and welding fixture for main and auxiliary pipes of ultra-high voltage steel pipe towers according to claim 3, characterized in that: Both positioning blocks (701) are rotatably connected to anti-blocking rollers (703) on their front end faces, and both anti-blocking rollers (703) are fitted with buffer sleeves (704) on their circumferential surfaces.

5. The automatic positioning and welding fixture for main and auxiliary pipes of ultra-high voltage steel pipe towers according to claim 1, characterized in that: A correction plate (901) is installed between the clamping seat (402) and the third guide rail (403). The correction plate (901) is rotatably connected to the clamping seat (402). The third guide rail (403) is vertically installed on the correction plate (901). An arc-shaped correction groove (902) is concentrically opened on the upper end surface of the clamping seat (402). The center line of the correction groove (902) coincides with the center line of the second guide rail (202). A correction block (903) is installed on the lower end surface of the correction plate (901). The correction block (903) is slidably connected in the correction groove (902). Correction springs (904) are installed at both ends of the correction groove (902). The two ends of the two correction springs (904) are respectively connected to the inner wall of the correction groove (902) and the correction block (903).

6. The multi-degree-of-freedom automatic positioning and welding fixture for main and auxiliary pipes of ultra-high voltage steel pipe towers according to claim 5, characterized in that: The inner walls of the No. 3 guide rail (403) and the straightening groove (902) are provided with reinforcing surfaces (905). The reinforcing surfaces (905) are treated with overall tempering and surface nitriding. After processing, the hardness of the reinforcing surfaces (905) is between 65HRC and 70HRC.

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