Pipe pile welding robot

Abstract

The tubular pile welding robot comprises a mechanical arm, a sliding rail is fixedly connected to the lower end of the mechanical arm, a sliding block is fixedly connected to the sliding rail, a walking assembly is arranged at the lower end of the sliding block, and the walking assembly comprises an arc-shaped block fixedly connected to the lower end of the sliding block; the left side and the right side of the arc-shaped block are each fixedly connected with two mounting plates, two crawler wheels are arranged on the adjacent sides of the two matched mounting plates, a rotating shaft of each crawler wheel is rotationally connected with the corresponding mounting plate, the two crawler wheels are in transmission connection through a crawler body, and a walking motor is mounted on the mounting plate located on the rear side. Output shafts of the walking motors are fixedly connected with corresponding crawler wheel rotating shafts. The welding robot can flexibly move to the welding part, manpower is saved, it can be ensured that the steel sheets are completely attached to the pipe pile, welding of the steel sheets of different lengths is met, and the pipe pile welding efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of pipe pile welding equipment, and particularly relates to a pipe pile welding robot. BACKGROUND

[0002] In the field of building construction, the welding quality of the pipe pile plays a key role in the stability and safety of the project.

[0003] At present, the common pipe pile robot on the market mostly adopts the mode of adsorbing the arc-shaped guide rail on the pipe pile through the negative pressure suction cup, and then using the trolley to walk on the arc-shaped guide rail for welding operation. This structure and working mode have many drawbacks.

[0004] On the one hand, the arc-shaped guide rail needs to be manually carried and adhered on the pipe pile, which not only consumes a lot of manpower and time, but also is difficult to ensure the installation accuracy of the guide rail by manual operation, thereby affecting the welding quality. At the same time, the adsorption stability of the negative pressure suction cup is easily affected by the flatness, cleanliness of the pipe pile surface and environmental factors (such as wind, humidity), once the adsorption force is insufficient, the guide rail may be displaced or even fall off, resulting in a decrease in welding precision, and even causing safety accidents in serious cases.

[0005] On the other hand, the length of the arc-shaped guide rail is limited, when welding a long steel sheet, it cannot be completed at one time, and needs to be moved and reinstalled multiple times, the operation process is complicated, which greatly reduces the construction efficiency. In addition, manual pressing of the steel sheet is required during the welding process to ensure that the steel sheet is attached to the pipe pile, which not only increases the labor cost, but also the intensity and uniformity of manual pressing are difficult to control, which may cause problems such as insecure welding.

[0006] Therefore, it is necessary to design a pipe pile welding robot to solve the above problems. SUMMARY

[0007] The present application relates to the technical field of pipe pile welding equipment, and particularly relates to a pipe pile welding robot.

[0008] In order to achieve the above purpose, the present application adopts the following technical solutions: A pipe pile welding robot, comprising a mechanical arm, characterized in that: the lower end of the mechanical arm is fixedly connected with a sliding rail, the sliding rail is fixedly connected with a sliding block, the lower end of the sliding block is provided with a walking assembly, the walking assembly comprises an arc-shaped block fixedly connected to the lower end of the sliding block, the left and right sides of the arc-shaped block are fixedly connected with two mounting plates, the adjacent sides of the two matching mounting plates are provided with two track wheels, the rotation shafts of the track wheels are rotatably connected with the corresponding mounting plates, the two track wheels are drivingly connected through a track body, a walking motor is installed on the mounting plate at the rear side, the output shaft of the walking motor is fixedly connected with the rotation shaft of the corresponding track wheel, the right side of the arc-shaped block is provided with a rotating welding assembly, and the rotating welding assembly is used for uniformly welding steel sheets on the pipe pile.

[0009] Preferably, the front sides of the two track wheel rotation shafts located in the middle pass through the corresponding mounting plates, and the two track wheel rotation shafts located in the middle are drivingly connected through a first transmission assembly, the first transmission assembly comprises first chain wheels arranged on the two track wheel rotation shafts, the two first chain wheels are drivingly connected through a first chain, and the arc-shaped block is provided with a through opening, and the first chain passes through the through opening.

[0010] Preferably, the rotating welding assembly comprises a mounting seat installed on the upper end of the arc-shaped block, a driving motor is installed on the left side of the mounting seat, the output shaft of the driving motor passes through the mounting seat and is fixedly connected with a rotating rod at the tail end, the rotating rod is provided with a rotating gear, the right side of the arc-shaped block is provided with a rotating ring, the left side of the rotating ring is provided with a guide groove, the right side of the arc-shaped block is fixedly connected with two guide rods, the right sides of the two guide rods extend into the guide groove, the cross section of the guide groove is T-shaped, the guide rods are T-shaped rods, the outer wall of the rotating ring is fixedly connected with a plurality of tooth edges, the right side of the rotating ring is fixedly connected with a fixed plate, and the lower end of the fixed plate is installed with a welding head.

[0011] Preferably, the left side of the arc-shaped block is fixedly connected with a plurality of fixed blocks, and every two matching fixed blocks are rotatably connected with a guide wheel on the adjacent sides.

[0012] Preferably, the right side of the rotating ring is provided with two pressing assemblies, the pressing assembly comprises a pressing box arranged on the right side of the rotating ring, the inner top of the pressing box is provided with an electromagnet, the pressing box is slidingly connected with a pressing block, and the adjacent sides of the pressing block and the electromagnet are elastically connected through a spring.

[0013] Preferably, the right side of the rotating ring is provided with an arc-shaped moving assembly for driving the pressing assembly to make arc-shaped movement, so that the steel sheet is arc-shaped and tightly pressed on the pipe pile, the moving assembly comprises a circular groove arranged on the right side of the rotating ring, two movable blocks are arranged in the circular groove, the two movable blocks are fixedly connected with corresponding pressing boxes, the front and rear sides of the arc-shaped block are fixedly connected with connecting frames, the right sides of the two connecting frames are fixedly connected with rectangular boxes, the front and rear inner walls of the two rectangular boxes are rotatably connected with lead screws, the two lead screws are threadedly connected with moving blocks, the two moving blocks are slidably connected with the inner walls of the corresponding rectangular boxes, and the right sides of the two moving blocks are rotatably connected with connecting rods.

[0014] Preferably, the front and rear sides of the mounting seat are fixedly connected with L-shaped frames, the two L-shaped frames are rotatably connected with transmission rods penetrating through the two L-shaped frames, the opposite sides of the two lead screws extend to the outside, the two transmission rods are drivingly connected with the corresponding lead screws through a second transmission assembly, the two transmission rods and the rotating rod are provided with bevel gears, the rotating rod is provided with a second one-way bearing between the corresponding bevel gears, and the rotating rod is provided with a first one-way bearing between the rotating gear.

[0015] Preferably, the second transmission assembly comprises second chain wheels arranged on the transmission rods and the lead screws, and the two second chain wheels are drivingly connected through a second chain.

[0016] The present application has the following advantages: Compared with the prior art, the sliding rail, the sliding block and the walking assembly with the track wheel at the lower end of the mechanical arm can be flexibly moved on the surface of the pipe pile, manual installation and adjustment of the guide rail are not required, manpower is greatly saved, the convenience and efficiency of construction are improved, and the precision error problem caused by manual installation of the guide rail is avoided. Compared with the prior art, the pressing assembly composed of the electromagnet and the spring can automatically press the steel sheet, so that the steel sheet is tightly attached to the pipe pile, manual pressing is not required, the uniformity and stability of the pressing force are guaranteed, the welding quality is improved, the labor cost is reduced, and the welding quality is improved. Compared with the prior art, the arc-shaped moving assembly can drive the pressing assembly to make arc-shaped movement, so that the steel sheet can be better arc-shaped and tightly pressed on the pipe pile, and the applicability and welding precision of the equipment are further improved. Compared with the prior art, when welding, the rotating ring is driven to rotate by the operation of the driving motor, so that the welding head makes circular movement, and after the welding head is moved to the position, the steel sheet of different lengths can be welded, and the efficiency of pipe pile welding is improved.

[0017] In summary, the problems of large labor consumption, low efficiency, poor precision and insufficient applicability of the existing pipe pile welding robot are effectively solved, efficient, stable and precise welding operation is realized, a better solution for pipe pile welding in construction is provided, and the application prospect is broad and the economic benefit is significant. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A structural schematic diagram of a pipe pile welding robot is provided for the present application. Figure 2 A structural schematic diagram of a pipe pile welding robot is provided for the present application. Figure 1 An enlarged structural schematic diagram of A in the middle. Figure 3 A structural schematic diagram of a pipe pile welding robot is provided for the present application. Figure 4 A structural schematic diagram of a pipe pile welding robot is provided for the present application. Figure 5 A structural schematic diagram of a pipe pile welding robot is provided for the present application. Figure 6 A structural schematic diagram of a pipe pile welding robot is provided for the present application.

[0019] In the figure: 1 mechanical arm, 2 slide rail, 3 slide block, 4 arc block, 5 fixed block, 6 guide wheel, 7 mounting plate, 8 track body, 9 track wheel shaft, 10 first transmission assembly, 11 through port, 12 drive motor, 13 mounting seat, 14 rotating rod, 15 bevel gear, 16 rotating gear, 17 L-shaped frame, 18 rotating ring, 19 connecting frame, 20 guide rod, 21 guide groove, 22 rectangular box, 23 transmission rod, 24 second transmission assembly, 25 connecting rod, 26 circular groove, 27 tooth edge, 28 screw rod, 29 moving block, 30 pressing box, 31 fixed plate, 32 welding head, 33 movable block, 34 rectangular groove, 35 electromagnet, 36 spring, 37 pressing block. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application.

[0021] Referring to Figures 1-6 A pipe pile welding robot, comprising a mechanical arm 1, before use, the mechanical arm is connected with the walking part of the robot (such as Figure 6The lower end of the mechanical arm 1 is fixedly connected with a sliding rail 2, the sliding rail 2 is fixedly connected with a sliding block 3, the sliding rail 2 and the sliding block 3 form a linear sliding assembly, the cooperation precision between the two is ensured through accurate machining, the sliding block 3 can flexibly slide on the sliding rail 2, and the sliding block 3 provides stable guidance and support for movement of subsequent components on the surface of the pipe pile, ensures linearity and stability of the movement process, and the lower end of the sliding block 3 is provided with a walking assembly, the walking assembly comprises an arc block 4 fixedly connected to the lower end of the sliding block 3, the arc of the arc block 4 is designed according to the arc of the outer contour of the common pipe pile, can closely fit the surface of the pipe pile, increase the contact area with the pipe pile, improve the stability and adhesion in the walking process, the left and right sides of the arc block 4 are fixedly connected with two mounting plates 7, the adjacent sides of the two matching mounting plates 7 are provided with two track wheels, the rotating shaft 9 of each track wheel is rotatably connected with the corresponding mounting plate 7, the two track wheels are drivingly connected through a track body 8, the surface of the track body 8 is provided with anti-skid lines, and the friction with the surface of the pipe pile is increased to prevent slipping during walking; the cooperation between the track wheel and the track body 8 adopts a standard tooth profile design, which ensures the stability and efficiency of transmission, a walking motor is installed on the mounting plate 7 at the rear side, the walking motor is a high-torque and low-speed motor, which can provide sufficient driving torque to meet the needs of the robot moving on the surface of the pipe pile; the motor and the track wheel rotating shaft 9 are connected through a key, which ensures the reliability of power transmission, the output shaft of the walking motor is fixedly connected with the corresponding track wheel rotating shaft 9, the right side of the arc block 4 is provided with a rotating welding assembly, and the rotating welding assembly is used for uniformly welding the steel sheet on the pipe pile.

[0022] The front sides of the two track wheel rotating shafts 9 located in the middle pass through the corresponding mounting plates 7, the two track wheel rotating shafts 9 located in the middle are drivingly connected through a first transmission assembly 10, the first transmission assembly 10 comprises first sprockets arranged on the two track wheel rotating shafts 9, the two first sprockets are drivingly connected through a first chain, the arc block 4 is provided with a through opening 11, the size of the through opening 11 is accurately designed, which can ensure smooth passing of the first chain and also play a certain protection role on the chain to prevent interference or wear between the chain and the arc block 4, the first chain penetrates through the through opening 11, a plurality of fixed blocks 5 are fixedly connected to the left side of the arc block 4, and every two matched fixed blocks 5 are rotatably connected with a guide wheel 6 on the adjacent sides. The guide wheel 6 is wrapped with a metal hub made of rubber, which can reduce the friction resistance with the surface of the pipe pile and also provide a certain buffering effect; the guide wheel 6 is helpful to guide the robot to move stably along the pipe pile axis direction, and improve the linearity of walking.

[0023] The rotating welding assembly comprises a mounting seat 13 mounted on the upper end of the arc-shaped block 4, a driving motor 12 mounted on the left side of the mounting seat 13, the output shaft of the driving motor 12 penetrating through the mounting seat 13 and fixedly connected with a rotating rod 14, a rotating gear 16 arranged on the rotating rod 14, a rotating ring 18 arranged on the right side of the arc-shaped block 4, a guide groove 21 arranged on the left side of the rotating ring 18, two guide rods 20 fixedly connected with the right side of the arc-shaped block 4, the right sides of the two guide rods 20 extending into the guide groove 21, the guide groove 21 being T-shaped in cross section, the guide rods 20 being T-shaped rods, the T-shaped guide structure being capable of effectively limiting the movement track of the rotating ring 18 so that the rotating ring 18 can only rotate around the pipe pile axis, meanwhile, the T-shaped guide structure can provide sufficient support force to ensure the stability and precision of the rotating process, a plurality of tooth edges 27 fixedly connected with the outer wall of the rotating ring 18, the rotating gear 16 and the tooth edges 27 on the outer wall of the rotating ring 18 being in mesh with each other, the rotating of the rotating rod 14 being transmitted to the rotating ring 18 through the gear transmission to realize the circumferential movement of the welding head 32, and the right side of the rotating ring 18 being fixedly connected with a fixed plate 31, the lower end of the fixed plate 31 being mounted with the welding head 32.

[0024] The right side of the rotating ring 18 is provided with two pressing assemblies, the pressing assembly comprises a pressing box 30 arranged on the right side of the rotating ring 18, an electromagnet 35 arranged on the inner top of the pressing box 30, the electromagnet 35 being capable of accurately controlling the repulsion force of the pressing block 37 by controlling the on-off and size of the current to realize flexible adjustment of the pressing force of the steel sheet, the pressing box 30 being slidably connected with a pressing block 37, the pressing block 37 being elastically connected with the adjacent side of the electromagnet 35 through a spring 36, the right side of the rotating ring 18 being provided with an arc-shaped moving assembly, the arc-shaped moving assembly being used for driving the pressing assembly to move in an arc shape so that the steel sheet is arc-shapedly attached and pressed on the pipe pile, the moving assembly comprises a circular groove 26 arranged on the right side of the rotating ring 18, two movable blocks 33 arranged in the circular groove 26, the two movable blocks 33 being fixedly connected with the corresponding pressing boxes 30, the front and rear sides of the arc-shaped block 4 being fixedly connected with connecting frames 19, the right sides of the two connecting frames 19 being fixedly connected with rectangular boxes 22, the front and rear inner walls of the two rectangular boxes 22 being rotatably connected with lead screws 28, the two lead screws 28 being threadedly connected with moving blocks 29, the two moving blocks 29 being slidably connected with the inner walls of the corresponding rectangular boxes 22, the right sides of the two moving blocks 29 being rotatably connected with connecting rods 25, the two connecting rods 25 being rotatably connected with the right sides of the pressing boxes 30, the connecting rod 25 converting the linear movement of the moving block 29 into the arc-shaped movement of the pressing box 30, a moving power supply being arranged on the rotating ring 18, the moving power supply, the two electromagnets 35 and the welding head 32 forming a loop through wires.

[0025] The mounting base 13 has L-shaped frames 17 fixedly connected to both its front and rear sides. A transmission rod 23 is rotatably connected through each L-shaped frame 17. The opposing sides of the two lead screws 28 extend to the outside. The two transmission rods 23 and their corresponding lead screws 28 are connected via a second transmission assembly 24. Both transmission rods 23 and the rotating rod 14 are equipped with bevel gears 15. A second one-way bearing is provided between the rotating rod 14 and its corresponding bevel gear 15, and a first one-way bearing is provided between the rotating rod 14 and the rotating gear 16. The one-way bearings enable selective power transmission. By controlling the direction of rotation of the rotating rod 14, the rotating welding assembly and the arc-shaped moving assembly can be driven to work separately, avoiding motion interference between the two assemblies. That is, when the rotating rod 14 rotates clockwise, it drives the rotating gear 16 to rotate, while the bevel gear 15 on the rotating rod 14 does not rotate; when the rotating rod 14 rotates counterclockwise, it drives the bevel gear 15 to rotate, while the rotating gear 16 does not rotate. The second transmission assembly 24 includes second sprockets mounted on the transmission rods 23 and the lead screws 28. The two second sprockets are connected via a second chain.

[0026] The functional principle of this invention can be explained by the following operation: First, the robotic arm 1 is mounted on the walking part of the robot (e.g., Figure 6 As shown, the robotic arm 1 is manipulated to precisely place the rotating ring 18 and the arc block 4 onto the outer surface of the pipe pile. The slide rail 2 and the slider 3, which are fixedly connected to the lower end of the robotic arm 1, form a sliding guide structure. The sliding flexibility of the slider 3 on the slide rail 2 provides a reliable foundation and precise guidance for the subsequent movement of the robot on the surface of the pipe pile. Next, the walking assembly is started, and the walking motor located on the rear mounting plate 7 is powered on and runs. Its output shaft directly drives the corresponding track wheel shaft 9 to rotate. Under the transmission cooperation between the track wheel and the track body 8, the four track wheels work together, so that the arc block 4 drives the rotating ring 18 to move smoothly to the right along the outer surface of the pipe pile. During the walking process, the front side of the two middle track wheel shafts 9 passes through the corresponding mounting plate 7, and the power transmission and synchronous rotation are realized through the first transmission assembly 10. Once the welding head 32 moves to the preset welding start position, the walking motor is immediately stopped to allow the robot to be precisely positioned. At this time, the clamping component begins to function. The electromagnet 35 at the top of the clamping box 30 is energized, and the generated electromagnetic force repulses the clamping block 37, forcing the clamping block 37 to overcome the elastic resistance of the spring 36 and move downward, pressing the steel plate tightly against the surface of the pipe pile.

[0027] Subsequently, the drive motor 12 installed on the left side of the mounting seat 13 drives the rotating rod 14 to rotate counterclockwise, and the first one-way bearing is arranged between the rotating rod 14 and the rotating gear 16, which limits the rotating gear 16 from rotating with the rotating rod 14 counterclockwise, and the rotating rod 14 is in meshing state with the bevel gear 15 on the transmission rod 23, the rotation of the rotating rod 14 drives the transmission rod 23 to rotate synchronously through the meshing transmission of the bevel gear 15, the transmission rod 23 and the screw rod 28 are connected through the second transmission assembly 24, the second sprocket in the second transmission assembly 24 is respectively installed on the transmission rod 23 and the screw rod 28, and is connected through the second chain transmission, so that the rotation of the transmission rod 23 is transmitted to the screw rod 28, when the screw rod 28 rotates, the moving block 29 connected with the screw rod 28 through threads can only move linearly along the axial direction of the screw rod 28 under the limiting action of the inner wall of the rectangular box 22, the two moving blocks 29 move away from each other under the drive of the screw rod 28, and the linear motion of the moving block 29 is converted into the circular motion of the pressing box 30 through the rotating connection of the connecting rod 25 on the right side of the moving block 29, and the two pressing boxes 30 drive the pressing block 37 to move circularly along the circular groove 26, so that the steel plate is gradually pressed into an arc shape which is in close contact with the surface of the pipe pile, and the steel plate is closely attached to the surface of the pipe pile, thereby creating conditions for high-quality welding. When the two moving blocks 29 move to the designated position, the drive motor 12 is controlled again to drive the rotating rod 14 to rotate clockwise, at this time, the second one-way bearing is arranged between the rotating rod 14 and the bevel gear 15, so that the bevel gear 15 cannot rotate with the rotating rod 14 clockwise, and the rotating gear 16 is in close meshing with the plurality of tooth edges 27 on the outer wall of the rotating ring 18, the clockwise rotation of the rotating rod 14 drives the rotating ring 18 and the welding head 32 to move circularly through the meshing transmission of the rotating gear 16 and the tooth edges 27, the rotating ring 18 can only rotate circularly under the cooperation of the two guide rods 20 and the guide groove 21, the T-shaped cross section of the guide groove 21 cooperates with the T-shaped guide rod 20, so as to limit the rotating ring 18 to rotate circularly, thereby ensuring the stability and accuracy of the rotating track of the rotating ring 18, so that the welding head 32 uniformly and firmly welds the steel plate to the surface of the pipe pile. In addition, a plurality of fixed blocks 5 are fixedly connected to the left side of the arc-shaped block 4, and each two cooperating fixed blocks 5 are rotatably connected to each other at the adjacent sides, and the guide wheels 6 are in contact with the surface of the pipe pile, which plays an auxiliary guiding and supporting role in the movement and welding process of the robot, and further enhances the stability of the entire device during operation, and each component cooperates and works together during the entire welding process, without the need for manual intervention, from positioning, pressing to welding, which effectively improves the welding efficiency and quality, and fully demonstrates the technical advantages of the present application in the field of pipe pile welding.

[0028] The above merely describes preferred embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can make equivalent replacements or changes within the technical scope disclosed by the present application and according to the technical solutions and inventive concept of the present application, which should be covered within the protection scope of the present application.

Claims

1. A pipe pile welding robot, comprising a robotic arm (1), characterized in that: The lower end of the robotic arm (1) is fixedly connected to a slide rail (2), and a slider (3) is fixedly connected to the slide rail (2). The lower end of the slider (3) is provided with a walking component. The walking component includes an arc-shaped block (4) fixedly connected to the lower end of the slider (3). Two mounting plates (7) are fixedly connected to the left and right sides of the arc-shaped block (4). Two track wheels are provided on the adjacent sides of the two mating mounting plates (7). The rotating shaft (9) of each track wheel is rotatably connected to the corresponding mounting plate (7). The two track wheels are connected by transmission through the track body (8). A walking motor is installed on the mounting plate (7) located on the rear side. The output shaft of the walking motor is fixedly connected to the rotating shaft (9) of the corresponding track wheel. A rotating welding component is provided on the right side of the arc-shaped block (4). The rotating welding component is used to uniformly weld steel sheets onto the pipe pile.

2. The pipe pile welding robot according to claim 1, characterized in that: The two track wheel shafts (9) located in the middle are connected by a first transmission assembly (10) through the corresponding mounting plate (7). The two track wheel shafts (9) located in the middle are connected by a first transmission assembly (10). The first transmission assembly (10) includes a first sprocket on the two track wheel shafts (9). The two first sprockets are connected by a first chain. The arc block (4) is provided with a through-hole (11). The first chain passes through the through-hole (11).

3. The pipe pile welding robot according to claim 1, characterized in that: The rotating welding assembly includes a mounting base (13) installed on the upper end of the arc-shaped block (4). A drive motor (12) is installed on the left side of the mounting base (13). The output shaft of the drive motor (12) passes through the mounting base (13) and is fixedly connected to a rotating rod (14). A rotating gear (16) is provided on the rotating rod (14). A rotating ring (18) is provided on the right side of the arc-shaped block (4). A guide groove (21) is provided on the left side of the rotating ring (18). Two guide rods (20) are fixedly connected to the right side of the arc-shaped block (4). The right side of the two guide rods (20) extends into the guide groove (21). The cross-section of the guide groove (21) is T-shaped. The guide rods (20) are T-shaped rods. Multiple toothed ridges (27) are fixedly connected to the outer wall of the rotating ring (18). A fixing plate (31) is fixedly connected to the right side of the rotating ring (18). A welding head (32) is installed at the lower end of the fixing plate (31).

4. The pipe pile welding robot according to claim 3, characterized in that: Multiple fixed blocks (5) are fixedly connected to the left side of the arc-shaped block (4), and guide wheels (6) are rotatably connected to the adjacent sides of each pair of cooperating fixed blocks (5).

5. A pipe pile welding robot according to claim 3, characterized in that: Two clamping assemblies are provided on the right side of the rotating ring (18). The clamping assembly includes a clamping box (30) provided on the right side of the rotating ring (18). An electromagnet (35) is provided on the top inner part of the clamping box (30). A clamping block (37) is slidably connected inside the clamping box (30). The clamping block (37) and the adjacent side of the electromagnet (35) are elastically connected by a spring (36).

6. The pipe pile welding robot according to claim 5, characterized in that: The rotating ring (18) has an arc-shaped moving component on its right side. The arc-shaped moving component is used to drive the pressing component to make arc-shaped movements, so that the steel sheet is arc-shaped and pressed against the pipe pile. The moving component includes a circular groove (26) on the right side of the rotating ring (18). Two movable blocks (33) are provided in the circular groove (26). The two movable blocks (33) are fixedly connected to the corresponding pressing box (30). The front and rear sides of the arc-shaped block (4) are fixedly connected to the connecting frame (19). The right side of the two connecting frames (19) is fixedly connected to the rectangular box (22). The front and rear inner walls of the two rectangular boxes (22) are rotatably connected to the screw rod (28). The two screw rods (28) are threadedly connected to the moving block (29). The two moving blocks (29) are slidably connected to the inner wall of the corresponding rectangular box (22). The right side of the two moving blocks (29) is rotatably connected to the connecting rod (25). The two connecting rods (25) are rotatably connected to the right side of the pressing box (30).

7. A pipe pile welding robot according to claim 6, characterized in that: The mounting base (13) is fixedly connected to both the front and rear sides with L-shaped frames (17). A transmission rod (23) is rotatably connected through each of the two L-shaped frames (17). The opposite sides of the two lead screws (28) extend to the outside. The two transmission rods (23) and the corresponding lead screws (28) are connected by a second transmission assembly (24). Both transmission rods (23) and rotating rods (14) are provided with bevel gears (15). A second one-way bearing is provided between the rotating rod (14) and the corresponding bevel gear (15). A first one-way bearing is provided between the rotating rod (14) and the rotating gear (16).

8. A pipe pile welding robot according to claim 7, characterized in that: The second transmission assembly (24) includes a second sprocket disposed on the transmission rod (23) and the lead screw (28), and the two second sprockets are connected by a second chain drive.

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